Model Predictive Control in a Pendulum System

In English Model Predictive Control (MPC) is applied to a pendulum system consisting of a pendulum and a cart. The objective of the MPC-controller is to steer the system towards precalculated trajectories that move the system from one operating point to another. The sample time of the controller sets hard limitations on the execution time of the optimization routine in the MPC-controller. The optimization problem to solve is cast as a convex optimization problem that can be efficiently solved to allow for real time implementation. The control scheme is applied to a physical pendulum and cart system and the performance of the proposed controller is compared to optimal performance.