Stabilization of the cart–inverted-pendulum system using state-feedback pole-independent MPC controllers
ID Messikh, Lotfi (Author), ID Guechi, El-Hadi (Author), ID Blažič, Sašo (Author)

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In this paper, a pole-independent, single-input, multi-output explicit linear MPC controller is proposed to stabilize the fourth-order cart–inverted-pendulum system around the desired equilibrium points. To circumvent an obvious stability problem, a generalized prediction model is proposed that yields an MPC controller with four tuning parameters. The first two parameters, namely the horizon time and the relative cart–pendulum weight factor, are automatically adjusted to ensure a priori prescribed system gain margin and fast pendulum response while the remaining two parameters, namely the pendulum and cart velocity weight factors, are maintained as free tuning parameters. The comparison of the proposed method with some optimal control methods in the absence of disturbance input shows an obvious advantage in the average peak efficiency in favor of the proposed SIMO MPC controller at the price of slightly reduced speed efficiency. Additionally, none of the compared controllers can achieve a system gain margin greater than 1.63, while the proposed one can go beyond that limit at the price of additional degradation in the speed efficiency.

Keywords:cart–inverted pendulum (CIP) system, explicit control scheme (ECS), cascade control scheme, model predictive control (MPC), pole placement method, coincident pole placement method (CPP), coefficient diagram method (CDM)
Work type:Article
Typology:1.01 - Original Scientific Article
Organization:FE - Faculty of Electrical Engineering
Publication status:Published
Publication version:Version of Record
Number of pages:28 str.
Numbering:Vol. 22, iss. 1, art. 243
PID:20.500.12556/RUL-136777 This link opens in a new window
ISSN on article:1424-8220
DOI:10.3390/s22010243 This link opens in a new window
COBISS.SI-ID:99820547 This link opens in a new window
Publication date in RUL:20.05.2022
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Shortened title:Sensors
COBISS.SI-ID:10176278 This link opens in a new window


License:CC BY 4.0, Creative Commons Attribution 4.0 International
Description:This is the standard Creative Commons license that gives others maximum freedom to do what they want with the work as long as they credit the author.
Licensing start date:01.01.2022

Secondary language

Keywords:sistem vozička z invertiranim nihalom, eksplicitna shema vodenja, kaskadno vodenje, modelno prediktivno vodenje, metoda premikanja polov


Funder:Other - Other funder or multiple funders
Funding programme:PHC Tassili
Project number:43790QB

Funder:ARRS - Slovenian Research Agency
Project number:P2-0219
Name:Modeliranje, simulacija in vodenje procesov

Funder:Other - Other funder or multiple funders
Funding programme:Algeria, Ministry of Higher Education and Scientific Research
Project number:PRFU A01L08UN210120220001

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