Swing-up and stabilization of a Twin-Pendulum under state and control constraints by fast NMPC scheme

Mazen Alamir (1) , André Murilo (1)

1 GIPSA-SYSCO - GIPSA - Systèmes non linéaires et complexité

In this paper, a real-time implementable NMPC scheme is proposed for the swing-up and the stabilization of a Twin-Pendulum system under control and state constraints. The basic feature lies in a particular parametrization of the set of candidate control profiles leading to a decision variable that may take only $3$ admissible values. Simulations are proposed to assess the efficiency of the proposed feedback.

Domaines: Optimisation et contrôle [math.OC]; Automatique / Robotique

Mazen Alamir, André Murilo. Swing-up and stabilization of a Twin-Pendulum under state and control constraints by fast NMPC scheme. Automatica, 2008, 44 (5), pp.1319-1324, May. ⟨10.1016/j.automatica.2007.09.020⟩. ⟨hal-00160743⟩