Nonlinear Model Predictive Control of an Inverted Pendulum

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Executive Summary

Non-linear Model Predictive Control (NMPC) is an attractive strategy for controlling complex systems. It has been used for decades within process control industries, because it offers good dynamic performance while ensuring operation within certain physical limits. This latter feature enables plant operators to run the plant near constraint boundaries, which can increase productivity and reduce product quality variation. However, a fundamental difficulty of this NMPC approach is that the implementation platform must be capable of solving a constrained optimisation problem within a specified time limit.

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