Nonlinear model predictive control for a BallBeam

摘要

This article presents the development of a modelbased predictive control (MPC) for Ball & Beam system and results achieved in the implementation of this controller on a real plant. The purpose of this work is to show that the MPC is one of the optimal control strategies more employed in the research community over the last years due to good management of the nonlinearities and the fulfillment of mechanical and electrical constraints. The validation of the results is supported by comparing experimental data with theoretical results.