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Optimization of a Pendulum System using Optimica and Modelica

Author

Summary, in English

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.

Publishing year

2009

Language

English

Document type

Conference paper

Topic

  • Control Engineering

Keywords

  • Optimal control
  • Optimica
  • Modelica

Conference name

7th International Modelica Conference, 2009

Conference date

2009-09-20 - 2009-09-22

Conference place

Como, Italy

Status

Published

Research group

  • LCCC