Abstract
AbstractIn this work, a model predictive approach is applied on a mechanical system with a view on a real‐time capable implementation. The mechanical system is represented by a pendulum, which consists of a sphere at the end of a long, thin rod. The rod is mounted on gimbals on a cross table, which can be moved by two DC motors. The control objective is trajectory tracking of the sphere, which can be realized by the control of these motors. In this work, linear model predictive control techniques are designed for the pendulum and are simulatively compared with regard to an accurate trajectory tracking and a real‐time capable algorithm. A linear time‐invariant approach is implemented on the experiment. (© 2014 Wiley‐VCH Verlag GmbH & Co. KGaA, Weinheim)
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