Stabilization of the cart–inverted-pendulum system using state-feedback pole-independent MPC controllers

Messikh, Lotfi (author), Guechi, El-Hadi (author), Blažič, Sašo (author)

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.

• Language: English
• 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
• Year: 2022
• Number of pages: 28 str.
• Numbering: Vol. 22, iss. 1, art. 243
• PID: 20.500.12556/RUL-136777
• UDC: 681.5
• ISSN on article: 1424-8220
• DOI: 10.3390/s22010243
• COBISS.SI-ID: 99820547
• Publication date in RUL: 20.05.2022

Record is a part of a journal

• Title: Sensors
• Shortened title: Sensors
• Publisher: MDPI
• ISSN: 1424-8220
• COBISS.SI-ID: 10176278

Licences

• License: CC BY 4.0, Creative Commons Attribution 4.0 International
• Link: http://creativecommons.org/licenses/by/4.0/
• 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

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