A fast hybrid dual mode NMPC for a parallel double inverted pendulum with experimental validation

Gonzalez, O. and Rossiter, J. orcid.org/0000-0002-1336-0633 (2020) A fast hybrid dual mode NMPC for a parallel double inverted pendulum with experimental validation. IET Control Theory and Applications, 14 (16). pp. 2329-2338. ISSN 1751-8644

Abstract

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Authors/Creators:
Copyright, Publisher and Additional Information: © 2021 The Authors. IET Control Theory & Applications published by John Wiley & Sons, Ltd. on behalf of The Institution of Engineering and Technology. This is an author-produced version of a paper subsequently published in IET Control Theory and Applications. Uploaded in accordance with the publisher's self-archiving policy.
Keywords: predictive control; closed loop systems; nonlinear control systems; stability; optimisation; pendulums; robust control; continuous time systems; Kalman filters; iterative methods; fast hybrid dual mode NMPC; parallel double inverted pendulum; experimental validation; nonlinear model predictive control approach; dual-mode closed-loop predictions; numerically robust optimal solutions; real-time iteration scheme; real-time performance; RTI scheme; additional energy-based costs; hybrid switching scheme; nonstandard discretised model; online system identification scheme
Dates:
  • Accepted: 29 June 2020
  • Published (online): 9 September 2020
  • Published: November 2020
Institution: The University of Sheffield
Academic Units: The University of Sheffield > Faculty of Engineering (Sheffield) > Department of Automatic Control and Systems Engineering (Sheffield)
Depositing User: Symplectic Sheffield
Date Deposited: 01 Jul 2020 06:49
Last Modified: 15 Jul 2021 11:00
Status: Published
Publisher: Institution of Engineering and Technology (IET)
Refereed: Yes
Identification Number: https://doi.org/10.1049/iet-cta.2020.0130
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