Rifqi Firmansyah, Pressa P. Surya Saputra
Model predictive control (MPC) defines as a controller algorithm utilizing optimal computation. The method of MPC has given numerous effect to the quality of some applications such as petrochemical plant, electronic devices, power electronics, robotics, and unmanned aerial vehicle. All of the MPC design in the literature has been successfully implemented and have given excellent performance for the systems. However, the MPC has been only designed for systems which have state variables under four variables. In this paper, an MPC method for the system that has state variables over 4 variables is proposed. The proposed MPC has been designed to stabilize two-stage inverted pendulum that has higher-order, nonlinear, very unstable, multivariable and 6 state variables. The MPC methodis designed through the dynamic model of that pendulum employing Euler-Lagrange Equation. Then, themethod is evaluated under several conditions to Figure out the performance using MATLAB Simulink software. The result shows that the three parameters of the system namely the parameter prediction horizon Np, the parameter tuning rw and the parameter control horizon Nc can influence thesystem output. The modification of Np has influenced the speed of the output system. Themodification of Nc and rw has influenced the maximum of pendulum angle deviation. © 2020 IEEE.
Universitas Negeri Surabaya, Department of Electrical Engineering, Surabaya, Indonesia; Universitas Muhammadiyah Gresik, Department of Electrical Engineering, Gresik, Indonesia
