Explicit Model Predictive Control for a Cart Inverted Pendulum System

Abstract

This paper discusses the implementation of the explicit model predictive control for the inverted pendulum system. The proposed controller has three merits. First, it is able to produce the optimal control action with constraints satisfaction. Second, it reduces the online computational time by obtaining the offline solution of the optimization problem. Third, it ensures the overall system stability. The simulation results show that the proposed controller achieves an excellent performance.