A new robust model predictive control strategy for rotational inverted pendulum system

Intelligent Swing-Up and Robust Stabilization via Tube-based Nonlinear Model Predictive Control for A Rotational Inverted-Pendulum System

“…As the RIP system has under-actuated degrees-of-freedom of the joint between the rotational base and the pendulum arm, many conventional control strategies developed for fully actuated systems cannot be directly applied due to the strong mechanical coupling Kharola et al (2016). Unlike traditional energy-based, model-free, adaptive, neural networks, genetic and other classical control algorithms Fantoni and Lozano (2002); Tanaka et al (2011); Mandic et al (2014); Delibasi et al (2007); Kennedy et al (2019), the current literature shows Model Predictive Control (MPC) framework as a promising technology based on optimization that has drawn the attention in control applications for under-actuated and rapid-response mechanisms due to its simple structure, straightforward design procedure, and robust properties against system uncertainties and disturbances Ghanavati et al (2011). Compared to other classical optimization-based methods such as LQR or LMI to deal with piecewise stabilized dynamics Minouchehr et al (2015), the MPC approach adopts optimization methods to correct the current dynamics based on feedback and predictive behaviour subject to system constraints.…”

Tube-MPC for a class of uncertain continuous nonlinear systems with application to surge problem

“…Using robust predictive control methods, uncertainty in the process model can be explicitly combined with the problem [2,3,11,22]. Since, model predictive control (MPC) is a popular and effective approach to design controller in different areas DOI: 10.14736/kyb-2017-4-0679 [4,6]. Adaptive method is used to compensate the parametric uncertainty and stabilize the controller against disturbances applied to the system [5].…”