Modelling and predictive control of an inverted pendulum system by MLD approach: multivariable case

Abstract

This paper deals with a class of hybrid systems that is presented by mixed logical dynamical (MLD) formalism. This approach is well-adapted to hybrid systems, particularly because of its ability not only to model systems involving continuous and discrete dynamics under constraints, but also to address several issues such as model predictive control (MPC) of this class of systems. This approach will be illustrated by the multivariable modelling of the inverted pendulum system. Therefore, the resultant system is well-posed for MPC strategy. Simulations were effected using the HYSDEL compiler to illustrate the efficiency of this formalism.