Abstract
This paper presents a method to design a predictive controller for a Rotational Inverted Pendulum (RIP) system. The design goal is to balance the pendulum in the inverted position. After linearization, the model of RIP system is transformed to a linear polytopic system with bounded disturbances and a new robust model predictive control (RMPC) strategy is developed for this system. Simulation results are presented to show the robustness of the closed-loop system against parameter variations and disturbances. The proposed method can be considered as a promising way for control of various similar nonlinear systems.
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