Discrete time Control Solutions for Inverted Pendulum Crane Mode Control

This paper presents the design and validation of three discrete-time control solutions (CSs) for the position control of the inverted pendulum system, namely: a Two Degrees of Freedom control structure and two Model Predictive control structures design by minimizing of an objective function on one and several steps. A comparative study of the proposed CSs is also included. All CSs were tested in the same scenario and validated by real time experiments.