2011•Applied Mechanics and MaterialsRequires access

Generalized Predictive Control for Rotary Inverted Pendulum System

Qiang Gao, Yi Li

Abstract

Inverted pendulum system is a complex, multivariable, nonlinear, strong-coupling, unstable system of high order. Compared with the straight-line inverted pendulum, rotary inverted pendulum is more complicated and unstable. In this paper, the mathematic model of a rotary inverted pendulum system is analyzed and deduced detailedly by applying the Lagrange method; the control properties and characteristics of generalized predictive control are researched with matlab simulation. Finally, the results of the experiment prove the system controlled by GPC has a better stability and quickness.

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Key concepts: Inverted pendulum, Double inverted pendulum, Control theory (sociology), Multivariable calculus, MATLAB, Nonlinear system, Model predictive control, Engineering