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NMPC Implementation for Cart-Pole System by José Antônio Moraes is a document available to read on EtoBox.

What is NMPC Implementation for Cart-Pole System about?

The document discusses the implementation of Nonlinear Model Predictive Control (NMPC) for a cart-pole system using CasADi, focusing on optimal control concepts, practical implementation, and simulation analysis. It outlines the theoretical foundations of optimal control, the formulation of the NMPC problem, and the steps to encode system dynamics, constraints, and cost functions. The guide is aimed at readers with a background in control theory who wish to enhance their practical skills in advanced control

Author

José Antônio Moraes

Language

EN