Comparison of the performance of controllers for under-actuated systems

摘要

In this paper a Model Predictive Control (MPC) strategy is used for control of an under-actuated mechanical system, considered here is pendulum on a cart system (POAC) which has two degrees of freedom. The main strategy here is to control the angle of pendulum and position of the cart. The simulation is carried out using MPC toolbox and the response is compared with classical PID controller to validate the control law.