Department of Automation, Beijing University of Chemical Technology, Beijing, China

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Abstract—Inverted pendulum is a non-linear, multivariable and unstable device, a model predictive control (MPC) performance evaluation and tuning method for inverted pendulum device is proposed. MPC was designed to control the inverted pendulum device, and the minimum variance covariance constrained control (MVC3) was applied to evaluate the performance of the MPC controller and tune its parameters. The application results to a single inverted pendulum device have verified the feasibility and effectiveness of the proposed method.

Index Terms—Inverted pendulum, Model Predict Control, Minimum Variance Covariance Constrained Control, Performance evaluation, Controller-tuning

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Cite: Chao Cheng, Zhong Zhao, and Haixia Li, " MPC Controller Performance Evaluation and Tuning of Single Inverted Pendulum Device," Journal of Computers vol. 8, no. 6, pp. 1560-1570, 2013.