Modelling and offset-free predictive control of the parallel-type double inverted pendulum

Ager Paul*, ibrahim Beklan Kucukdemiral, Geraint Bevan

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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Abstract

This paper presents a nonlinear model of the parallel-type double inverted pendulum system with an elastic spring that produces opposing torques on the pendulums. The effects of solid and viscous frictional forces are considered in the developed model. The stabilising control of the nonlinear system is investigated by designing an offset-free model predictive control (OfMPC) scheme based on the linearised model. The use of OfMPC makes it possible to optimize the system performance while also ensuring that the physical limits of the system are not exceeded. Numerical simulation is used to show the effectiveness and prospective benefits of using the proposed controller over the conventional method.
Original languageEnglish
Title of host publication2022 10th International Conference on Systems and Control (ICSC)
Place of PublicationMarseille, France
PublisherIEEE
Pages403-409
Number of pages7
ISBN (Electronic)9781665465076
ISBN (Print)9781665465083
DOIs
Publication statusPublished - 3 Jan 2023
Event2022 10th International Conference on Systems and Control - Aix-Marseille University, Marseille, France
Duration: 23 Nov 202225 Nov 2022
Conference number: 10
https://controls.papercept.net/conferences/conferences/ICSC22/program/ (Link to conference website)

Publication series

Name
ISSN (Print)2379-0059
ISSN (Electronic)2379-0067

Conference

Conference2022 10th International Conference on Systems and Control
Abbreviated titleICSC 2022
Country/TerritoryFrance
CityMarseille
Period23/11/2225/11/22
Internet address

ASJC Scopus subject areas

  • Control and Systems Engineering

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