A predictive control approach for the inverse pendulum on a cart problem

A model-based predictive control algorithm that uses a limited number of control sequences for on-line simulation of future behaviour of the process is presented in the paper. Each control sequence used in simulation generates a predicted sequence of the output signal. The output predicted sequences are analysed and evaluated and then, using a set of rules, the 'optimal' control signal is computed. For simulating the future behaviour of the process it used a process model and also the previous sequences of the input and output signals from the process. The way it works, the algorithm permits the utilization of a nonlinear model of the process. For exemplifying the performance of the algorithm, the well-known problem of the inverted pendulum on a cart was chosen, in the position in which the cart movement is done in a limited space. The realized algorithm balances the position of the pendulum as well as the position of the cart.