Generalized Predictive Control for Rotary Inverted Pendulum System
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.
Q. Gao and Y. Li, "Generalized Predictive Control for Rotary Inverted Pendulum System", Applied Mechanics and Materials, Vols. 130-134, pp. 4256-4260, 2012