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Nonlinear model predictive control of an inverted pendulum

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3 Author(s)
Mills, A. ; Sch. of Electr. Eng. & Comput. Sci., Univ. of Newcastle, Callaghan, NSW, Australia ; Wills, A. ; Ninness, B.

In this paper, nonlinear model predictive control is applied to an inverted pendulum apparatus. The sample interval for control calculations is 25 milli-seconds and the associated non-convex constrained optimisation problem involves 61-variables with 241-constraints. Despite this being a challenging problem, it was solved online using a standard sequential quadratic programming approach on a modest hardware platform. The efficacy of the control algorithm is validated via experimental results.

Published in:

American Control Conference, 2009. ACC '09.

Date of Conference:

10-12 June 2009