Abstract
Inverted pendulum is a non-linear, multivariable and unstable device, a model predictive control (MPC) performance evaluation and tuning method for inverted pendulum device is proposed. MPC was designed to control the inverted pendulum device, and the minimum variance covariance constrained control (MVC 3 ) was applied to evaluate the performance of the MPC controller and tune its parameters. The application results to a single inverted pendulum device have verified the feasibility and effectiveness of the proposed method.
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