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All Journal Journal of Fuzzy Systems and Control (JFSC)
Duong, Hoang-Viet-Phuc
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Control & Systems Engineering Electrical & Electronics Engineering Energy Engineering

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Model Predictive Control for Rotary Inverted Pendulum: Simulation and Experiment Huynh, Phuc-Hoang; Nguyen, Minh-Hanh; Pham, Nguyen-Phat; Duong, Hoang-Viet-Phuc; Nguyen, Huy-Ha; Le, Duc-Chung; Nguyen, Minh-Khoa; Bui, Ngoc-Liem; Le, Nguyen-Phi-Long; Nguyen, Van-Dong-Hai
Journal of Fuzzy Systems and Control Vol. 2 No. 3 (2024): Vol. 2, No. 3, 2024
Publisher : Peneliti Teknologi Teknik Indonesia

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.59247/jfsc.v2i3.263

Abstract

Rotary Inverted Pendulum (RIP) is one of the simplest nonlinear systems commonly used for validating control algorithms. In this study, two controllers, Model Predictive Control (MPC) and Linear Quadratic Regulation (LQR), are simulated and experimentally validated. These controllers are executed in real-time on a PC, while the STM32F407 chip handles control and data acquisition from the pendulum using a high-speed USB interface. Due to the custom-built nature of this model, there are inaccuracies in the model and parameter identification. However, results show that the MPC controller is better at trajectory tracking and maintaining balance near the set point compared to the LQR controller. On the other hand, the LQR controller responds more robustly to disturbances and external forces, highlighting distinct differences between MPC’s optimization over each prediction horizon and LQR’s single-solution approach for the entire prediction horizon.
Co-Authors Bui, Ngoc-Liem Huynh, Phuc-Hoang Le, Duc-Chung Le, Nguyen-Phi-Long Nguyen, Huy-Ha Nguyen, Minh-Hanh Nguyen, Minh-Khoa Nguyen, Van-Dong-Hai Pham, Nguyen-Phat