Optimization of a Pendulum System using Optimica and Modelica

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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 languageEnglish
Publication statusPublished - 2009
Event7th International Modelica Conference, 2009 - Como, Italy
Duration: 2009 Sep 202009 Sep 22
Conference number: 7


Conference7th International Modelica Conference, 2009

Subject classification (UKÄ)

  • Control Engineering


  • Optimal control
  • Optimica
  • Modelica


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