Abstract
In this paper Modelica and Optimica are used to solve two different optimal control problems for a system consisting of a pendulum and a cart. These optimizations will demonstrate that Optimica is easy to use and powerful when optimizing systems with highly non-linear dynamics. The optimal control trajectories are applied to a real pendulum and cart system, in open loop as well as in closed loop with an MPC-controller. The experiments show that optimal trajectories from Optimica together with MPC feedback is a suitable control structure when optimal transitions through non-linear dynamics are desired.
Original language | English |
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Publication status | Published - 2009 |
Event | 7th International Modelica Conference, 2009 - Como, Italy Duration: 2009 Sept 20 → 2009 Sept 22 Conference number: 7 |
Conference
Conference | 7th International Modelica Conference, 2009 |
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Country/Territory | Italy |
City | Como |
Period | 2009/09/20 → 2009/09/22 |
Subject classification (UKÄ)
- Control Engineering
Free keywords
- Optimal control
- Optimica
- Modelica