@article{(Open Science Index):https://publications.waset.org/pdf/183,
	  title     = {Nonlinear Model Predictive Swing-Up and Stabilizing Sliding Mode Controllers},
	  author    = {S. Kahvecioglu and  A. Karamancioglu and  A. Yazici},
	  country	= {},
	  institution	= {},
	  abstract     = {In this paper, a nonlinear model predictive swing-up
and stabilizing sliding controller is proposed for an inverted
pendulum-cart system. In the swing up phase, the nonlinear model
predictive control is formulated as a nonlinear programming problem
with energy based objective function. By solving this problem at
each sampling instant, a sequence of control inputs that optimize the
nonlinear objective function subject to various constraints over a
finite horizon are obtained. Then, this control drives the pendulum to
a predefined neighborhood of the upper equilibrium point, at where
sliding mode based model predictive control is used to stabilize the
systems with the specified constraints. It is shown by the simulations
that, due to the way of formulating the problem, short horizon
lengths are sufficient for attaining the swing up goal.},
	    journal   = {International Journal of Aerospace and Mechanical Engineering},
	  volume    = {3},
	  number    = {9},
	  year      = {2009},
	  pages     = {1041 - 1046},
	  ee        = {https://publications.waset.org/pdf/183},
	  url   	= {https://publications.waset.org/vol/33},
	  bibsource = {https://publications.waset.org/},
	  issn  	= {eISSN: 1307-6892},
	  publisher = {World Academy of Science, Engineering and Technology},
	  index 	= {Open Science Index 33, 2009},
	}