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Hard Constraints Explicit Model Predictive Control of an Inverted Pendulum

Authors: Haider A. F. Mohamed --- Masood Askari and M. Moghavvemi
Journal: Iraqi Journal for Electrical And Electronic Engineering المجلة العراقية للهندسة الكهربائية والالكترونية ISSN: 18145892 Year: 2010 Volume: 6 Issue: 1 Pages: 28-32
Publisher: Basrah University جامعة البصرة


In this paper, explicit model predictive controller isapplied to an inverted pendulum apparatus. Explicit solutionsto constrained linear model predictive controller can becomputed by solving multi-parametric quadratic programs.The solution is a piecewise affine function, which can beevaluated at each sample to obtain the optimal control law. Theon-line computation effort is restricted to a table-lookup. Thisadmits implementation on low cost hardware at high samplingfrequencies in real-time systems with high reliability and lowsoftware complexity. This is useful for systems with limitedpower and CPU resources

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