Journal
PROCEEDINGS OF THE 2019 22ND INTERNATIONAL CONFERENCE ON PROCESS CONTROL (PC19)
Volume -, Issue -, Pages 209-214Publisher
IEEE
DOI: 10.1109/pc.2019.8815034
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Funding
- Slovak Research and Development Agency [APVV-14-0399]
- Slovak Cultural and Educational Grant Agency [005STU-4/2018]
- Research & Development Operational Programme for the project University Scientific Park STU in Bratislava [ITMS 26240220084]
- Research 7 Development Operational Programme - ERDF
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This article presents a control framework to swing up and stabilize the inverted pendulum-cart system in its unstable equilibrium and maintain this configuration while changing the reference position of the cart. The swing-up problem is solved by an energy-based approach that respects physical constraints of the system. Stabilization and subsequent cart position tracking is addressed by means of an implicit model predictive controller with guaranteed stability imposed via a terminal set constraint. Viability of the proposed framework is practically demonstrated on a laboratory inverted pendulum system, the states of which were estimated by a continuous-discrete extended Kalman filter.
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