Generalized Predictive Control for Rotary Inverted Pendulum System

Abstract:

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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 and 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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Price:

$35.00

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