Generalized Predictive Control for Rotary Inverted Pendulum System

Qiang Gao; Yi Li

doi:10.4028/www.scientific.net/AMM.130-134.4256

Paper Titles

Vibration Analysis of a Micromachined Modal Gyroscope Based on Elastic Body
p.4236

Feasibility Analysis of Tripping in Small Current Grounding System
p.4240

The EMF-PF Fill Height Measuring Technique Using Multi-Electrodes in Parallel Connection
p.4245

A Parallelizable Adaptive Method to Update Close-Loop Digital Predistorter for RF Power Amplifiers
p.4252

Generalized Predictive Control for Rotary Inverted Pendulum System
p.4256

Research on Control Strategy of Grid-Side Inverter in Direct Drive Wind Power System
p.4261

Design and Implement of Three-Phase Inverter System with Double Mode of Grid-Connection and Stand-Alone
p.4265

Study and Analysis a Powerful Debug Method for Smart Mobile Systems
p.4270

The Simulation of Digital PI Controller Based on VHDL
p.4274

HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vols. 130-134Generalized Predictive Control for Rotary Inverted...

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.

You might also be interested in these eBooks

Mechanical and Electronics Engineering III

View Preview

Info:

Periodical:

Applied Mechanics and Materials (Volumes 130-134)

Pages:

4256-4260

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.130-134.4256

Citation:

Cite this paper

Online since:

October 2011

Authors:

Qiang Gao, Yi Li

Keywords:

Generalized Predictive Control (GPC), GPC, Rotary Inverted Pendulum

Export:

RIS, BibTeX

Price:

Permissions CCC:

Request Permissions

Permissions PLS:

Request Permissions

Сopyright:

Citation:

References

[1] Clarke D W, Mohtadi C, Tuffs P S. Generalized predictive control. Automation, 1987, 23(1): 137-160.

Google Scholar

[2] Cutter C R, et al. Dynamic Matrix Control-A Computer Control Algorithm. Proc JACC San Francisco, (1980).

Google Scholar

[3] Wang Wei. Generalized Predictive Control and its Applications [M]. Science Press, (1998).

Google Scholar

[4] Dan Yuanhong, Lai Hongxia. Analysis on Modeling, Controllability and Observability of Circular-Rail Double Inverted Pendulum [J]. Chongqing: Journal of Chongqing Institute of Technology (Natural Science Edition), 2007, 21(11): 7-16.

Google Scholar