Model Predictive Control for Nonlinear Inverted Pendulum Mobile Robot with Disturbance

Abstract

The Model Predictive Control is a control technique that has been greatly investigated in recent years. In this paper, nonlinear model predictive control is applied to an inverted pendulum-cart dynamic system we know that the inverted pendulum-cart dynamic system is an inherently unstable and nonlinear system.The controller is robust to parameter uncertainty and disturbances so that it is suitable for controlling an inverted pendulum system. Based on testing with step and sine reference signals without interference, the controller can stabilize the system well and has a fast response. Here the controller aim is to move the cart to a desired position and balancing the pendulum in upright position. the Model Predictive controller is robust against these changes and able to make the system reach the reference value.       The simulation results show that the proposed controller achieves an excellent performance. Here the modeling and simulation of the controller are carried out using MATLAB-SIMULINK and simulation results