**Commenced**in January 2007

**Frequency:**Monthly

**Edition:**International

**Paper Count:**31100

##### Nonlinear Model Predictive Swing-Up and Stabilizing Sliding Mode Controllers

**Authors:**
S. Kahvecioglu,
A. Karamancioglu,
A. Yazici

**Abstract:**

**Keywords:**
Stabilization,
Model Predictive Control,
Inverted pendulum,
swingup

**Digital Object Identifier (DOI):**
doi.org/10.5281/zenodo.1327847

**References:**

[1] R.N. Gasimov, A. Karamancioglu, and A. Yazici, "A nonlinear programming approach for the sliding mode control design," Applied Mathematical Modeling, vol. 29, pp. 1135-1148, 2005.

[2] K. J. AstrĂ¶m and K. Furuta, "Swinging up a pendulum by energy control," Automatica, vol. 36, pp. 287-295, 2000.

[3] A. S. Shiriaev, "VSS-version of energy-based control for swinging up a pendulum," Systems and Control Letters, vol. 44, pp. 45-56, 2001.

[4] K. Yoshida, "Swing-up control of an inverted pendulum by energybased methods," in 1996 Proc. American Control Conference, San Diego, California.

[5] D. Chatterjee, A. Patra, and H. K. Joglekar, "Swing-up and stabilization of a cart-pendulum system under restricted cart track length," Systems and Control Letters, vol. 47, pp. 355-364, 2002.

[6] N. Muskinja and B. Tovornik, "Swinging up and stabilization of a real inverted pendulum," IEEE Trans. Industrial Electronics, vol. 53, pp. 631-639, 2006.

[7] R. Lozano, I. Fantoni, and D. J. Block, "Stabilization of the inverted pendulum around its homoclinic orbit," Systems and Control Letters, vol. 40, pp. 197-204, 2000.

[8] J. Yi, N. Yubazaki, and K. Hirota, "Upswing and stabilization control of inverted pendulum system based on SIRMs dynamically connected fuzzy inference model," Fuzzy Sets and Systems, vol. 122, pp. 139-152, 2001.

[9] E. Mosca, Optimal, Predictive and Adaptive Control, Prentice-Hall, 1994.

[10] E. F. Camacho and C. Bordons, Model Predictive Control, Springer Verlag, 1999.

[11] J. B. Rawlings, "Tutorial overview of model predictive control," IEEE Control Systems Magazine, pp. 38-52, June 2000.

[12] S. J. Quin and T. A. Badgwell, "A survey of industrial model predictive control technology," Control Engineering Practice, pp. 733-764, 2003.

[13] P. Tatjewski and M. Lawrynczuk, "Soft computing in model-based predictive control", International Journal of Applied Mathematics and Computer Science, vol. 16, pp. 7-26, 2006.

[14] C. Onnen, R. Babushka, U. Kaymak, J. M. Sousa, H. B. Verbruggen, and R. Isermann, "Genetic algorithms for optimization in predictive control," Control Engineering Practice, pp. 1363-1372, 1997.

[15] K. Ogata, Modern Control Engineering, Prentice Hall, 1990.

[16] K. Sakurama, S. Hara and K. Nakano, "Swing-up and stabilization of a cart-pendulum system via energy control and controlled lagrangian methods," Electrical Engineering in Japan, vol. 160, pp. 24-31, 2007.

[17] R. A. DeCarlo, S. H. Zak and G. B. Matthews, "Variable structure control of nonlinear multivariable systems: A tutorial", in 1998 Proc. IEEE, vol. 76, pp. 212-232