You can choose using either an Interior-Point (IP) solver or a Sequential Quadratic Programming (SQP) solver using the nlmpcToForcesOptions command. For example, if you have FORCESPRO software from Embotech installed, you can use their MPC Toolbox Plugin to generate an efficient custom NLP solver from your nlmpc object and use the solver for simulation and code generation.įirst, generate a custom solver using the nlmpcToForces command. Overshoot of theta less than 20 degrees (0.35 radians). Rise time for x of less than 0.5 seconds. The design requirements for the Inverted Pendulum state-space example are: Settling time for x and theta of less than 5 seconds. You can easily use a third-party nonlinear programming solver together with the nonlinear MPC object designed using Model Predictive Control Toolbox software. We will also limit the pendulums overshoot to 20 degrees (0.35 radians), and it should also settle in under 5 seconds. Also, a push (impulse disturbance dF) is applied to the inverted pendulum at a time of 20 seconds. Closed-Loop Simulation with FORCESPRO Solver in MATLAB The nonlinear simulation in Simulink produces identical swing-up and cart position tracking results compared to the MATLAB simulation. While the cart moves, the pendulum is displaced with a peak deviation of 1 radian ( 57 degrees) and returned to an inverted equilibrium position around a time of 12 seconds. The cart position plot shows that the cart successfully moves to z = 5 in two seconds. During the swing-up process, the cart is displaced with a peak deviation of -1, and returned to its original position around a time of 2 seconds. The pendulum angle plot shows that the pendulum successfully swings up in two seconds.
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