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 language | English |
|---|---|
| Title of host publication | 2022 10th International Conference on Systems and Control (ICSC) |
| Editors | Driss Mehdi, Rachid Outbib, Ahmed El-Hajjaji, Eric Busvelle, Hassan Noura |
| Place of Publication | Marseille, France |
| Publisher | IEEE |
| Pages | 403-409 |
| Number of pages | 7 |
| ISBN (Electronic) | 9781665465076 |
| ISBN (Print) | 9781665465083 |
| DOIs | |
| Publication status | Published - 3 Jan 2023 |
| Event | 2022 10th International Conference on Systems and Control - Aix-Marseille University, Marseille, France Duration: 23 Nov 2022 → 25 Nov 2022 Conference number: 10 https://controls.papercept.net/conferences/conferences/ICSC22/program/ (Link to conference website) |
Publication series
| Name | International Conference on Systems and Control (ICSC) |
|---|---|
| Publisher | IEEE |
| ISSN (Print) | 2379-0059 |
| ISSN (Electronic) | 2379-0067 |
Conference
| Conference | 2022 10th International Conference on Systems and Control |
|---|---|
| Abbreviated title | ICSC 2022 |
| Country/Territory | France |
| City | Marseille |
| Period | 23/11/22 → 25/11/22 |
| Internet address |
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Keywords
- system performance
- predictive models
- control systems
- solids
- mathematical models
- numerical models
- noise measurement
ASJC Scopus subject areas
- Control and Systems Engineering
Documents and Links
- Paul, A. et al. (2023) Modelling and offset-free predictive control of the parallel-type double inverted pendulum
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