Digital Library

of the European Council for Modelling and Simulation



Modelling And Predictive Control Of Inverted Pendulum


Petr Chalupa, Vladimír Bobál

Published in:


ECMS 2008 Proceedings

Edited by: Loucas S. Louca, Yiorgos Chrysanthou, Zuzana Oplatkova, Khalid Al-Begain


ISBN: 978-0-9553018-6-5

Doi: 10.7148/2008


22nd European Conference on Modelling and Simulation,

Nicosia, June 3-6, 2008


Citation format:

Chalupa, P., & Bobal, V. (2008). Modelling And Predictive Control Of Inverted Pendulum. ECMS 2008 Proceedings edited by: L. S. Louca, Y. Chrysanthou, Z. Oplatkova, K. Al-Begain (pp. 531-537). European Council for Modeling and Simulation. doi:10.7148/2008-0531



The paper is focused on creating a model of Inverted pendulum system and subsequent usage of this model to design a predictive controller of inverted pendulum system. The model is obtained on base of mathematical physical analysis of the system. Unknown parameters of the model are obtained from real-time experiments on the PS600 Inverted pendulum system. The model is designed  in MA TLAB/Simulink     environment.   The model was created with respect to most nonlinearities contained in the system. Nonlinearities are caused by fundamental principles of the system and by friction between individual parts of the system. Thus, the model is highly non-linear and therefore linearization around working point was performed and continuous linearized model was calculated as well as its discrete version. The discrete linear model was used to design predictive controller which was also verified by real time experiments.

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