Hard Constraints Explicit Model Predictive Control of an Inverted Pendulum

Abstract

In this paper, explicit model predictive controller isapplied to an inverted pendulum apparatus. Explicit solutionsto constrained linear model predictive controller can becomputed by solving multi-parametric quadratic programs.The solution is a piecewise affine function, which can beevaluated at each sample to obtain the optimal control law. Theon-line computation effort is restricted to a table-lookup. Thisadmits implementation on low cost hardware at high samplingfrequencies in real-time systems with high reliability and lowsoftware complexity. This is useful for systems with limitedpower and CPU resources