Control predictivo multivariado para el sistema de péndulo invertido

Abstract

This project is related to the design of a predictive controller applied to an inverted pendulum. The experimental prototype of the pendulum has been manufactured by the company Quanser. In this work, the linear model of the plant represented in the state space is shown, the algorithm programming for the controller taking into account the model and also the utility of applying restrictions to the controller. Experimental results of the angular position control of the pendulum are also presented, considering different scenarios where the tuning parameters of the controller are modified.