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TECHNICAL BRIEFS

Nonlinear Model Predictive Control for the Swing-Up of a Rotary Inverted Pendulum

[+] Author and Article Information
Sooyong Jung

R&D Group 3, Digital Media Business, Samsung Electronics Co., Ltd., Suwan, Korea e-mail: sy1226.jung@samsung.com

John T. Wen

Rensselaer Polytechnic Institute, Troy, NY 12180 e-mail: wen@cat.rpi.edu

J. Dyn. Sys., Meas., Control 126(3), 666-673 (Dec 03, 2004) (8 pages) doi:10.1115/1.1789541 History: Received December 17, 2003; Online December 03, 2004
Copyright © 2004 by ASME
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Figures

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State and control trajectories on the open-loop control system: After third iteration
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Simulation response with NMPC
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Experimental response with NMPC: Sample run #1
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Experimental response with NMPC: Sample run #2
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Experimental response with NMPC: Sample run #3
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Experimental response with NMPC: Sample run #4
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Comparison of state response
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Comparison of control trajectory
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Experimental response with NMPC+linear balancing control: Sample run #1
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Experimental response with NMPC+linear balancing control: Sample run #2
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The rotary inverted pendulum experiment

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