Optimization and Position Control for a Multivariable Systems using Model Predictive Controller

This paper proposes to build up a rotary inverted pendulum, its state space model was derived using Euler-Lagrange equation. This model was higly nonlinear. Stabilizationand Self erecting a rotary inverted pendulum from sliding position and assessment of the pendulum in a straight up position was achived by designing a control techniques like minimum order model, dead bead controller, LQR and Model Predictive controller (MPC). The estimation of the parameters using exact model of the process. The matlab platform is used in the implementation of MPC and deadbeat controller the This concept was used in JCB, GRAIN and entertainment instrument in park.