Cover
Vol. 6 No. 1 (2010)

Published: June 30, 2010

Pages: 28-32

Original Article

Hard Constraints Explicit Model Predictive Control of an Inverted Pendulum

Haider A. F. Mohamed 1 Masood Askari 2 M. Moghavvemi 1
1Department of Electrical & Electronic Engineering The University of Nottingham Malaysia Campus Semenyih, Malaysia
2Centre for Research in Applied Electronics (CRAE) University of Malaya Kuala Lumpur, Malaysia
History
  • Received: April 30, 2010
  • Available Online: June 30, 2010
DOI

https://doi.org/10.37917/ijeee.6.1.6

Abstract

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.

Keywords

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