Stabilization of Furuta Pendulum Using Nonlinear MPC

Furka Matúš (), Klaučo Martin () and Kvasnica Michal ()
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Furka Matúš: Slovak University of Technology in Bratislava, Faculty of Chemical and Food Technology, Institute of Information Engineering, Automation, and Mathematics, Radlinského 9, 812 37Bratislava, Slovak Republic
Klaučo Martin: Slovak University of Technology in Bratislava, Faculty of Chemical and Food Technology, Institute of Information Engineering, Automation, and Mathematics, Radlinského 9, 812 37Bratislava, Slovak Republic
Kvasnica Michal: Slovak University of Technology in Bratislava, Faculty of Chemical and Food Technology, Institute of Information Engineering, Automation, and Mathematics, Radlinského 9, 812 37Bratislava, Slovak Republic

Research Papers Faculty of Materials Science and Technology Slovak University of Technology, 2019, vol. 27, issue 45, 42-48

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.

Keywords: Furuta Pendulum; NMPC; MATMPC (search for similar items in EconPapers)
Date: 2019
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Persistent link: https://EconPapers.repec.org/RePEc:vrs:repfms:v:27:y:2019:i:45:p:42-48:n:6

DOI: 10.2478/rput-2019-0024

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