Optimization of a Pendulum System using Optimica and Modelica

Publication type: 
Conference paper
Giselsson, P., Ã…kesson, J., Robertsson, A.
Proceedings of the 7th International Modelica Conference 2009
Modelica Association
<p>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 will demonstrate 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 MPC-controller. 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.</p>