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MPC in Space State for the Control of a Furuta Pendulum

机译：用于控制Furuta摆的空间状态的MPC

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Simulation and control of a Furuta pendulum using state space MPC (Model Predictive Control) are presented. Mathematical model used for the controller was obtained through the Lagrange-Euler formulation and its physical variables were extracted from a mechanical CAD model. Representation of the linearized system was made from its Jacobian matrix and its subsequent discretization was obtained using the inverse Laplace transform. Finally, through quadratic programming, the increments applied to the control signal were calculated by minimizing acost function considering constraints in both the manipulated variables and the controlled variables. The results show a great robustness of the control strategy implemented since it is able to keep the system stable, even when there are modeling errors, non-measurable perturbations and restrictions on the process variables.
机译：介绍了使用状态空间MPC（模型预测控制）的呋纳摆的仿真和控制。通过拉格朗日 - 欧拉制剂获得用于控制器的数学模型，并从机械CAD模型中提取其物理变量。线性化系统的表示是由其雅各的基质制成的，并且使用逆拉普拉斯变换获得其随后的离散化。最后，通过二次编程，通过最小化act函数考虑被操纵变量和受控变量的约束来最小化施加到控制信号的增量。结果表明，由于能够将系统保持稳定的控制策略，即使存在对过程变量的建模错误，不可衡量的扰动和限制，也能够保持系统稳定的稳定性。

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