Model Predictive Control for rotary inverted pendulum using LabVIEW

Abstract

Inverted pendulum is a popular nonlinear system, extensively used in the study and analysis of various control techniques. Inverted pendulum has got variety of applications in robotics, aerospace, Segway etc. The paper deals with mathematical modelling, parameter estimation, disturbance rejection and tracking control of QNET 2.0 Rotary Inverted Pendulum Board for NI ELVIS in LabVIEW platform. A Model Predictive Controller is designed to maintain the pendulum in upright position and to handle disturbances. The tracking control problem for arm angle is also considered. A comparison between the disturbance rejections using MPC with standard LQR is carried out. Finally experimental results are described and compared based on the two control techniques designed for the stabilization of rotary inverted pendulum.