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Stabilization of Furuta Pendulum Using Nonlinear MPC

Author

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  • Furka Matúš
  • Klaučo Martin
  • Kvasnica Michal

    (Slovak University of Technology in Bratislava, Faculty of Chemical and Food Technology, Institute of Information Engineering, Automation, and Mathematics, Radlinského 9, 812 37 Bratislava, Slovak Republic)

Abstract

This paper is devoted to design of a non-linear model predictive controller (NMPC), which will swing-up and stabilize an inverse rotary pendulum known as the Furuta Pendulum. This paper presents a simulation validation of the NMPC strategy using a full-fidelity non-linear mathematical model of the Furuta pendulum obtained from the Euler-Lagrange motion equations. The NMPC strategy was implemented in MATLAB using the MATMPC toolbox.

Suggested Citation

  • Furka Matúš & Klaučo Martin & Kvasnica Michal, 2019. "Stabilization of Furuta Pendulum Using Nonlinear MPC," Research Papers Faculty of Materials Science and Technology Slovak University of Technology, Sciendo, vol. 27(45), pages 42-48, September.
    • Handle: RePEc:vrs:repfms:v:27:y:2019:i:45:p:42-48:n:6
    DOI: 10.2478/rput-2019-0024
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    Keywords

    Furuta Pendulum; NMPC; MATMPC;
    All these keywords.

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