Abstract

Having regard to the large application of the inverted pendulum in robotic system, this study is interested in controlling this process with two strategies of controls. The first proposed control is the state feedback with an observer based on the Generalized Predictive Control (GPC) algorithm. In the second proposed control we used the characteristic of predictive control GPC to improve the performance of the classical PID controller. The obtained results have been discussed and compared; the simulation results obtained by the predictive PID control are mentioned.

Keywords:

Generalized Predictive Control (GPC), inverted pendulum, observer, predictive PID control, predictive state feedback,

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Competing interests

The authors have no competing interests.

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