MULTIMODEL APPROACH IN STATE-SPACE PREDICTIVE CONTROL

This paper presents a multimodel approach to control nonlinear systems. The system of the inverted pendulum which has one control input and two measured outputs was chosen as an exemplar process. This system is an example of the nonlinear process with a sampling period in order of milliseconds. The state-space predictive control of the system described by CARIMA model was chosen as a control method. This paper presents a description of the inverted pendulum nonlinear mathematical model, its linearization and the control signal calculation using predictor-corrector method. The results compare three methods of linearized model combination. All of the simulations were done in Matlab.