DocumentCode
2855475
Title
Experimental evaluation of model predictive control of ball and beam systems
Author
Hara, N. ; Takahashi, M. ; Konishi, K.
Author_Institution
Dept. of Electr. & Inf. Syst., Osaka Prefecture Univ., Sakai, Japan
fYear
2011
fDate
June 29 2011-July 1 2011
Firstpage
1130
Lastpage
1132
Abstract
In this paper, we discuss the control of a ball and beam system subject to an input constraint. Model predictive control (MPC) approaches are employed to derive a nonlinear control law satisfying the constraint. The control law is given by solving the optimization problem at each sample time, where the primal-dual interior point algorithm is implemented and used as the optimization solver. An experimental comparison of three control methods, two different MPCs and saturated LQR, has been presented for the control of the ball and beam system.
Keywords
linear quadratic control; nonlinear control systems; predictive control; LQR; ball-beam system; model predictive control approach; nonlinear control law; optimization problem; primal-dual interior point algorithm; Attenuation; Control systems; DC motors; Optimization; Predictive control; Predictive models; Robustness;
fLanguage
English
Publisher
ieee
Conference_Titel
American Control Conference (ACC), 2011
Conference_Location
San Francisco, CA
ISSN
0743-1619
Print_ISBN
978-1-4577-0080-4
Type
conf
DOI
10.1109/ACC.2011.5991299
Filename
5991299
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