Paper Title:
Generalized Predictive Control for Rotary Inverted Pendulum System
  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.

  Info
Periodical
Edited by
Han Zhao
Pages
4256-4260
DOI
10.4028/www.scientific.net/AMM.130-134.4256
Citation
Q. Gao, Y. Li, "Generalized Predictive Control for Rotary Inverted Pendulum System", Applied Mechanics and Materials, Vols. 130-134, pp. 4256-4260, 2012
Online since
October 2011
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