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.
Department/s
Publishing year
2009
Language
English
Full text
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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