Real-time approximate explicit nonlinear model predictive control for the swing-up of a reaction wheel pendulum

J. Sowman, Dina Shona Laila, S. Longo

Research output: Contribution to conferencePaper

4 Citations (Scopus)


In this paper, we show that nonlinear model predictive control (NMPC) demonstrates excellent performance in driving a reaction wheel pendulum to its unstable equilibrium at which the pendulum is inverted. We show that NMPC is capable of driving the system to this point from the stable equilibrium (i.e. the non-inverted position), often known as `swing-up'. This is as opposed to many common implementations in which two controllers are used - one for swing-up and another for stabilisation or balancing around the equilibrium. We derive an explicit version of the controller which provides a close approximation to the required control input, but can do so within the required sampling period. We demonstrate that this approach generates a real-time controller of a size and speed appropriate for embedded implementation on a microprocessor.
Original languageEnglish
Pages4308 - 4313
Publication statusPublished - 11 Feb 2016
EventIEEE Conference on Decision and Control - Osaka, Japan
Duration: 15 Dec 201518 Dec 2015


ConferenceIEEE Conference on Decision and Control

Bibliographical note

The full text is currently unavailable on the repository.


  • Wheels
  • Optimization
  • Approximation algorithms
  • Real-time systems
  • Predictive control
  • Optimal control
  • Predictive models
  • stability
  • control system analysis computing
  • embedded systems
  • microprocessor chips
  • nonlinear control systems
  • pendulums
  • predictive control
  • sampling methods
  • microprocessor
  • real-time approximate explicit nonlinear model predictive control
  • reaction wheel pendulum swing-up
  • unstable equilibrium
  • NMPC
  • stable equilibrium
  • stabilisation
  • explicit controller version
  • sampling period
  • embedded implementation
  • underactuated systems
  • Nonlinear model predictive control
  • real-time control
  • reaction wheel pendulum
  • inverted pendulum

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