Stabilization of the cart–inverted-pendulum system using state-feedback pole-independent MPC controllers

Lotfi Messikh (Author), El-Hadi Guechi (Author), Sašo Blažič (Author)

Abstract

In this paper, a pole-independent, single-input, multi-output explicit linear MPC controller is proposed to stabilize the fourth-order cart–inverted-pendulum system around the desired equilibrium points. To circumvent an obvious stability problem, a generalized prediction model is proposed that yields an MPC controller with four tuning parameters. The first two parameters, namely the horizon time and the relative cart–pendulum weight factor, are automatically adjusted to ensure a priori prescribed system gain margin and fast pendulum response while the remaining two parameters, namely the pendulum and cart velocity weight factors, are maintained as free tuning parameters. The comparison of the proposed method with some optimal control methods in the absence of disturbance input shows an obvious advantage in the average peak efficiency in favor of the proposed SIMO MPC controller at the price of slightly reduced speed efficiency. Additionally, none of the compared controllers can achieve a system gain margin greater than 1.63, while the proposed one can go beyond that limit at the price of additional degradation in the speed efficiency.

Keywords

sistem vozička z invertiranim nihalom;eksplicitna shema vodenja;kaskadno vodenje;modelno prediktivno vodenje;metoda premikanja polov;cart–inverted pendulum system;explicit control scheme;cascade control scheme;model predictive control;pole placement method;

Data

Language:	English
Year of publishing:	2022
Typology:	1.01 - Original Scientific Article
Organization:	UL FE - Faculty of Electrical Engineering
UDC:	681.5
COBISS:	99820547
ISSN:	1424-8220
Views:	70
Downloads:	29
Average score:	0 (0 votes)
Metadata:

Other data

Secondary language:	Slovenian
Secondary keywords:	sistem vozička z invertiranim nihalom;eksplicitna shema vodenja;kaskadno vodenje;modelno prediktivno vodenje;metoda premikanja polov;
Type (COBISS):	Article
Pages:	str. 1-28
Volume:	ǂiss. ǂ1
Issue:	243
Chronology:	Jan.-1 2022
DOI:	10.3390/s22010243
ID:	15368029