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In this paper we present and investigate a complex control framework based on Nonlinear Model Predictive Control (NMPC) to achieve the unstable equilibria, and Moving Horizon Estimation (MHE) to estimate the actual state and parameters of a Pendubot. This fast, under-actuated nonlinear mechatronic system apparently poses a challenging benchmark problem that might benefit from a nonlinear optimization...
The paper deals with modeling and adaptive control of the Twin Rotor MIMO System - a real-time laboratory plant by Feedback Ltd. The plant consists of two propellers, which can be controlled by external controller, and resembles a helicopter. An initial mathematical model is derived using first principles modeling and further improved to correspond more with behavior of the real-time plant. The mathematical...
This paper deals with the design of a reference governor scheme which can be implemented in real time even on very simple microcontrollers. The governor serves as a supervisory controller, which generates optimized setpoints for the inner PID controller. The task of the inner controller is to control the vertical displacement of a ball in the magnetic levitation system. The reference governor is constructed...
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