New possibilities of industrial programming software

Recent developments in the area of industrial programing software expand the potential of the automation programs considerably. In addition to IEC 61131-3 languages, programming languages like C and C++ are getting available for industrial controllers, which opens new possibilities of reusing existing programs for real time processing in these controllers. Paper deals with swing-up and online model predictive control of mechatronic device - reaction wheel inverted pendulum. Swing-up control uses convenient shape of exponential function over pendulum position for determination of required energy to be delivered to the system. For stabilization of pendulum in the upright position a predictive controller based on optimal control law with perturbation was used. An important part of the solution is PLC implementation of qpOASES package for numerical solution of quadratic optimization problem. Application is implemented and tested using industrial PLC connected to a laboratory pendulum.