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In this paper, we show that nonlinear model predictive control (NMPC) demonstrates excellent performance in driving a reaction wheel pendulum to its unstable equilibrium at which the pendulum is inverted. We show that NMPC is capable of driving the system to this point from the stable equilibrium (i.e. the non-inverted position), often known as ‘swing-up’. This is as opposed to many common implementations...
Reduction of oxides of nitrogen (NOx) emitted from diesel exhaust systems is a current problem due to increased stringency in worldwide emissions legislation. One of the most successful approaches to reduce tailpipe NOx is to reduce NOx by ammonia over a catalyst, known as Selective Catalytic Reduction (SCR). Control of the ammonia injection in such systems is typically a map-based approach, often...
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