Digital Library of the European Council for Modelling and Simulation

Title:	State-Space Predictive Control Of Inverted Pendulum Model
Authors:	Lukas Rusar, Adam Krhovjak, Stanislav Talas, Vladimir Bobal
Published in:	(2017).ECMS 2017 Proceedings Edited by: Zita Zoltay Paprika, Péter Horák, Kata Váradi, Péter Tamás Zwierczyk, Ágnes Vidovics-Dancs, János Péter Rádics European Council for Modeling and Simulation. doi:10.7148/2017 ISBN: 978-0-9932440-4-9/ ISBN: 978-0-9932440-5-6 (CD) 31st European Conference on Modelling and Simulation, Budapest, Hungary, May 23^rd – May 26^th, 2017
Citation format:	Lukas Rusar, Adam Krhovjak, Stanislav Talas, Vladimir Bobal (2017). State-Space Predictive Control Of Inverted Pendulum Model, ECMS 2017 Proceedings Edited by: Zita Zoltay Paprika, Péter Horák, Kata Váradi, Péter Tamás Zwierczyk, Ágnes Vidovics-Dancs, János Péter Rádics European Council for Modeling and Simulation. doi: 10.7148/2017-0384
DOI:	https://doi.org/10.7148/2017-0384
Abstract:	This paper presents a possible way to control the a very fast nonlinear systems. The system of the inverted pendulum was chosen as an exemplar process. This is an example of the nonlinear single-input multi-output process with a sampling period in order of milliseconds. The state-space predictive control was chosen as a control method and the system is described by CARIMA model. The whole process of the controller design is described in this paper. That includes a description of the inverted pendulum nonlinear mathematical model and its linearization, the inference of the output values prediction and the control signal calculation. The control signal is calculated by predictor-corrector method. The results compare several optimization methods to achieve the fastest calculation of the control signal. All of the simulation was done in Matlab.
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