Pontus Giselsson
Dept. of Automatic Control, Lund University, Sweden
Johan Åkesson
Dept. of Automatic Control, Lund University, Sweden \ Modelon AB, Sweden
Anders Robersson
Dept. of Automatic Control, Lund University, Sweden
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http://dx.doi.org/10.3384/ecp09430094Published in: Proceedings of the 7th International Modelica Conference; Como; Italy; 20-22 September 2009
Linköping Electronic Conference Proceedings 43:53, p. 480-489
Published: 2009-12-29
ISBN: 978-91-7393-513-5
ISSN: 1650-3686 (print), 1650-3740 (online)
In this paper Modelica and Optimica are used to solve two different optimal control problems for a system consisting of a pendulum and a cart. These optimizations demonstrates that Optimica is easy to use and powerful when optimizing systems with highly non-linear dynamics. The optimal control trajectories are applied to a real pendulum and cart system; in open loop as well as in closed loop with an MPCcontroller. The experiments show that optimal trajectories from Optimica together with MPC feedback is a suitable control structure when optimal transitions through non-linear dynamics are desired.
