Model predictive control scheme for an inverted pendulum with disturbance

Abstract

 The development of model predictive control (MPC) is difficult to establish predictive model under the influence of external disturbance. Moreover, the changing of optimization solutions after each computation step implies the stability effectiveness of the closed system is hard to satisfy although it can be guaranteed in each optimization problem at time instant. This paper presents a control design involving a MPC approach for the nominal discrete time system after eliminating external disturbance and the addition of handling external disturbance. In order to study the stability of MPC strategy, the optimization problem is established at each time instant satisfying linear matrix inequalities (LMIs) to achieve the comparison between Lyapunov function candidates at the consecutive sampling times. Simulation studies for a perturbed Inverted Pendulum (IP) are implemented to demonstrate the effectiveness of the proposed control scheme.