Generalized Predictive Control for Rotary Inverted Pendulum System
Inverted pendulum system is a complex, multivariable, nonlinear, strong-coupling, unstable system of high order. Compared with the straight-line inverted pendulum, rotary inverted pendulum is more complicated and unstable. In this paper, the mathematic model of a rotary inverted pendulum system is analyzed and deduced detailedly by applying the Lagrange method; the control properties and characteristics of generalized predictive control are researched with matlab simulation. Finally, the results of the experiment prove the system controlled by GPC has a better stability and quickness.
rotary inverted pendulum generalized predictive control GPC
Qiang Gao Yi Li
School of Electrical Engineering & Automation of Tianjin Universityt 300072, China Tianjin Key Laboratory for Control Theory & Applications in Complicated Systems, Tianjin University
国际会议
合肥
英文
4256-4260
2011-09-23（万方平台首次上网日期，不代表论文的发表时间）