Návrh prediktivního řízení

Abstract

The work deals with model predictive control. It describes all the necessary parameters for the design of predictive control, how to find / select them and how to work with them. The calculation of predicted values and control action for a one-step predictor from a differential equation and for a multi-step predictor from a state space model is also described. The functionality of predictive control is demonstrated on an inverse pendulum on cart system. Differential equations are derived for the system and their linearization around the operating point is performed. The system is transferred to the MATLAB / Simulink environment, in which the design of predictive control is performed using the MPC toolbox. The control using the proposed controller is then compared with the PID and PSD controllers. The last part is the application to the real model of the inverse pendulum IPM 310.