Stabilization of Furuta Pendulum Using Nonlinear MPC
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Abstract
This paper is devoted to design of a non-linear model predictive controller (NMPC), which will swing-up and stabilize an inverse rotary pendulum known as the Furuta Pendulum. This paper presents a simulation validation of the NMPC strategy using a full-fidelity non-linear mathematical model of the Furuta pendulum obtained from the Euler-Lagrange motion equations. The NMPC strategy was implemented in MATLAB using the MATMPC toolbox.
DOI: https://doi.org/10.2478/rput-2019-0024 | Journal eISSN: 1338-0532
Language: English
Page range: 42 - 48
Submitted on: Aug 19, 2019
Accepted on: Sep 24, 2019
Published on: Dec 16, 2019
Published by: Slovak University of Technology in Bratislava
In partnership with: Paradigm Publishing Services
Publication frequency: 2 issues per year
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© 2019 Matúš Furka, Martin Klaučo, Michal Kvasnica, published by Slovak University of Technology in Bratislava
This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 3.0 License.