State-space predictive control of inverted pendulum model

Abstract

This paper presents a possible way to control the a very fast nonlinear systems. The system of the inverted pendulum was chosen as an exemplar process. This is an example of the nonlinear single-input multi-output process with a sampling period in order of milliseconds. The state-space predictive control was chosen as a control method and the system is described by CARIMA model. The whole process of the controller design is described in this paper. That includes a description of the inverted pendulum nonlinear mathematical model and its linearization, the inference of the output values prediction and the control signal calculation. The control signal is calculated by predictor-corrector method. The results compare several optimization methods to achieve the fastest calculation of the control signal. All of the simulation was done in Matlab. © ECMS Zita Zoltay Paprika, Péter Horák, Kata Váradi,Péter Tamás Zwierczyk, Ágnes Vidovics-Dancs, János Péter Rádics (Editors).