Hard constraints explicit model predictive control of an inverted pendulum
Joint Authors
Muhammad, Haydar A. F.
Askari, Masud
Moghavvemi, Mahmud
Source
The Iraqi Journal of Electrical and Electronic Engineering
Issue
Vol. 6, Issue 1 (30 Jun. 2010), pp.28-32, 5 p.
Publisher
University of Basrah College of Engineering
Publication Date
2010-06-30
Country of Publication
Iraq
No. of Pages
5
Main Subjects
Engineering & Technology Sciences (Multidisciplinary)
Topics
Abstract EN
In this paper, explicit model predictive controller is applied to an inverted pendulum apparatus.
Explicit solutions to constrained linear model predictive controller can be computed by solving multi-parametric quadratic programs.
The solution is a piecewise affine function, which can be evaluated at each sample to obtain the optimal control law.
The on-line computation effort is restricted to a table-lookup.
This admits implementation on low cost hardware at high sampling frequencies in real-time systems with high reliability and low software complexity.
This is useful for systems with limited power and CPU resources.
American Psychological Association (APA)
Muhammad, Haydar A. F.& Askari, Masud& Moghavvemi, Mahmud. 2010. Hard constraints explicit model predictive control of an inverted pendulum. The Iraqi Journal of Electrical and Electronic Engineering،Vol. 6, no. 1, pp.28-32.
https://search.emarefa.net/detail/BIM-289036
Modern Language Association (MLA)
Muhammad, Haydar A. F.…[et al.]. Hard constraints explicit model predictive control of an inverted pendulum. The Iraqi Journal of Electrical and Electronic Engineering Vol. 6, no. 1 (2010), pp.28-32.
https://search.emarefa.net/detail/BIM-289036
American Medical Association (AMA)
Muhammad, Haydar A. F.& Askari, Masud& Moghavvemi, Mahmud. Hard constraints explicit model predictive control of an inverted pendulum. The Iraqi Journal of Electrical and Electronic Engineering. 2010. Vol. 6, no. 1, pp.28-32.
https://search.emarefa.net/detail/BIM-289036
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references : p. 32
Record ID
BIM-289036