Modeling, simulation and control of a twin-inverted pendulum on a moving cart

作     者：Jasem Tamimi 

作者机构：College of EngineeringPalestine Polytechnic University P.O.Box 198HebronPalestine 

出 版 物：《International Journal of Modeling, Simulation, and Scientific Computing》 (建模、仿真和科学计算国际期刊（英文）)

年 卷 期：2021年第12卷第4期

页      面：171-183页

核心收录：

学科分类：07[理学] 0701[理学-数学] 0812[工学-计算机科学与技术（可授工学、理学学位）] 070101[理学-基础数学] 

主　　题：Twin-inverted pendulum linear quadratic regulator nonlinear model predictive control 

摘      要：In this paper,a mathematical model of a twin-inverted pendulum on a moving cart has been *** is done using the Lagrange–Euler method and,hence,a highly nonlinear mathematical model is resulted from this *** nonlinear and unstable dynamics are written in a simple matrix *** this challenging system,we use two types of efficient control approaches to treat the control problem of the twin inverted pendulum,namely,linear quadratic regulator(LQR)and nonlinear model predictive control(NMPC).Simulations with several scenarios are also presented to demonstrate the control performances and the model validity.