<abstract xmlns="http://www.w3.org/1999/xhtml"><p>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.</p></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.

Stabilization of Furuta Pendulum Using Nonlinear MPC

Slovak University of Technology in Bratislava

Faculty of Chemical and Food Technology, Institute of Information Engineering, Automation, and Mathematics

Research Papers Faculty of Materials Science and Technology Slovak University of Technology

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 3.0 License.

{"article-title":"Stabilization of Furuta Pendulum Using Nonlinear MPC"}

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...

Stabilization of Furuta Pendulum Using Nonlinear MPC

Published Online: Dec 16, 2019

Page range: 42 - 48

Received: Aug 19, 2019

Accepted: Sep 24, 2019

DOI: https://doi.org/10.2478/rput-2019-0024

Keywords
Furuta Pendulum, NMPC, MATMPC

© 2019 Matúš Furka et al., published by Sciendo

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 3.0 License.

Stabilization of Furuta Pendulum Using Nonlinear MPC

Published Online: Dec 16, 2019

Page range: 42 - 48

Received: Aug 19, 2019

Accepted: Sep 24, 2019

DOI: https://doi.org/10.2478/rput-2019-0024

KeywordsFuruta Pendulum, NMPC, MATMPC

© 2019 Matúš Furka et al., published by Sciendo

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 3.0 License.

Keywords
Furuta Pendulum, NMPC, MATMPC