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Control of a cart-pendulum system from Quanser. Includes swing-up using nonlinear MPC and LQR for stabilization. Simulations are done purely in Matlab. The interface for real system control is implemented in Simulink.

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BystrickyK/MPC_InvertedPendulum

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MPC_InvertedPendulum

Control of a cart-pendulum system from Quanser. Includes swing-up using nonlinear MPC and LQR for stabilization. Simulations are done purely in Matlab. The interface for real system control is implemented in Simulink.

Controller with +- 10V inputs on a simulated system: NLMPC_Swingup_dt10_sawtooth_highV

Controller with +- 20V inputs on a simulated system: NLMPC_Swingup_dt10_sawtooth_vhighV

Controller on a physical laboratory system: https://www.youtube.com/watch?v=D_lewvvNofU

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Control of a cart-pendulum system from Quanser. Includes swing-up using nonlinear MPC and LQR for stabilization. Simulations are done purely in Matlab. The interface for real system control is implemented in Simulink.

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