Using linear programming for the optimal control of a cartpendulum system
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2011
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PUGLIA, L. V.
Fabrizio Leonardi
Marko Ackermann
Fabrizio Leonardi
Marko Ackermann
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5th Int. Conference on Integrated Modeling and Analysis in Applied Control and Automation, IMAACA 2011, Held at the International Mediterranean and Latin American Modeling Multiconference, I3M 2011
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PUGLIA, L. V.; LEONARDI, F.; MARKO, ACKERMANN.
Using linear programming for the optimal control of a cartpendulum system.
5th Int. Conference on Integrated Modeling and Analysis in Applied Control and Automation, IMAACA 2011, Held at the International Mediterranean and Latin American Modeling Multiconference, I3M 2011, p. 200-205, sept. 2011.
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This paper discusses the use of linear programming for the optimal control of a cart pendulum system. The objective function and the constraints are designed to minimize the control effort and the time duration of the operation. Simulations and experimental tests were performed. Restrictions of null angle and angular velocity at the extremes were incorporated in the design specification as well as other physical constraints. In order to compensate for the modeling errors and disturbances, the optimal trajectory was kept within a prescribed precision by means of a closed loop system. The obtained results illustrate that the technique is simple, powerful and always conclusive.