Title: Modelling and predictive control of an inverted pendulum system by MLD approach: multivariable case
Authors: Essia Saidi; Yosra Hammi; Ali Douik
Addresses: Electrical Engineering Department, National Engineering School of Monastir, Avenue Ibn El Jazzar, 5019 Monastir, Tunisia ' Electrical Engineering Department, National Engineering School of Tunis, Box 37, 1002 Tunis Belvedere, Tunisia ' Electrical Engineering Department, National Engineering School of Sousse, Box 264, Sousse Erriadh, Tunisia
Abstract: This paper deals with a class of hybrid systems that is presented by mixed logical dynamical (MLD) formalism. This approach is well-adapted to hybrid systems, particularly because of its ability not only to model systems involving continuous and discrete dynamics under constraints, but also to address several issues such as model predictive control (MPC) of this class of systems. This approach will be illustrated by the multivariable modelling of the inverted pendulum system. Therefore, the resultant system is well-posed for MPC strategy. Simulations were effected using the HYSDEL compiler to illustrate the efficiency of this formalism.
Keywords: hybrid modelling; inverted pendulum; MLD systems; mixed logical dynamical systems; model predictive control; MPC; multivariable modelling; simulation.
International Journal of Modelling, Identification and Control, 2017 Vol.27 No.1, pp.40 - 48
Received: 21 May 2015
Accepted: 06 Oct 2015
Published online: 20 Feb 2017 *