Swing-up and stabilization of a Twin-Pendulum under state and control constraints by a fast NMPC scheme |
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Authors: | Mazen Andr |
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Affiliation: | aCNRS/GIPSA-Lab. SYSCO-Team, Domaine Universitaire, 38400 Saint Martin d’Hères, France |
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Abstract: | In this paper, a real-time implementable Nonlinear Model Predictive Control scheme is proposed for the swing-up and the stabilization of a Twin-Pendulum system under control and state constraints. The basic feature lies in a particular parametrization of the set of candidate control profiles leading to a decision variable that may take only 3 admissible values. Simulations are proposed to assess the efficiency of the proposed feedback. |
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Keywords: | Twin Pendulum Swing-up Constrained stabilization Fast NMPC |
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