Title :
Ball and Beam System - Nonlinear MPC Using Hammerstein Model
Author :
Xi, Zhiyu ; Hesketh, Tim
Author_Institution :
Univ. of New South Wales, Sydney
Abstract :
Many control methods have been applied to the ball and beam system. In this paper, simulation and on-line control results are presented. The system will be identified as a Hammerstein model. A non-minimal state space model is used to derive a nonlinear model predictive control algorithm. The results indicate that a Hammerstein model provides an accurate description of this nonlinear system. When the nonlinearity is successfully compensated for a high-gain linear controller yields good performance.
Keywords :
nonlinear control systems; predictive control; state-space methods; Hammerstein model; MPC; ball system; beam system; model predictive control; nonlinear model; on-line control; state space model; DC motors; Hardware; Impedance; Nonlinear systems; Predictive models; Servomechanisms; Servomotors; Shafts; Telecommunication control; Transfer functions;
Conference_Titel :
Industrial Electronics and Applications, 2007. ICIEA 2007. 2nd IEEE Conference on
Conference_Location :
Harbin
Print_ISBN :
978-1-4244-0737-8
Electronic_ISBN :
978-1-4244-0737-8
DOI :
10.1109/ICIEA.2007.4318820
