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A Robust Model Predictive Control for Balancing of an Inverted Pendulum

Affiliations

  • School of Mechanical and Manufacturing Engineering (SMME), National University of Sciences and Technology (NUST), H-12 Main Campus, Islamabad, Pakistan

Abstract


This paper presents a methodology to design robust predictive controller for the balancing of an inverted pendulum. The inverted pendulum is one of the most difficult control problem in which the pendulum needs to be balanced against the cart, which moves only in two directions to the left or to the right. A new robust controller is designed to balance the pendulum and produces results which are more effective and fast. A Model Predictive Control (MPC) and PID control strategies are applied for controlling the system equations of the inverted pendulum model and are analyzed and compared. The results of controllers implemented in MATLAB shows that both the strategies are able to control the system but robust model predictive control strategy gives better response as compared to conventional PID controller.

Keywords

Controller, Inverted Pendulum (IP), Model Predictive Control (MPC), Proportional Integral Derivative (PID).

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