Inverted Pendulum Model Predictive Control

Version 1.0.0.0 (24.4 KB) by John Hedengren
Another application of the APMonitor Optimization Suite for Model Predictive Control
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Updated 15 Jun 2015

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A model predictive controller for an inverted pendulum system with an adjustable cart. The cart performs a sequence of moves to maneuver from any position to another position in 1D, verifying that v, θ, and q are zero before and after the maneuver.
https://youtu.be/iW52CoG33pk
See the dynamic optimization course at http://apmonitor.com/do for additional examples in MATLAB and Python.

Cite As

John Hedengren (2026). Inverted Pendulum Model Predictive Control (https://in.mathworks.com/matlabcentral/fileexchange/51197-inverted-pendulum-model-predictive-control), MATLAB Central File Exchange. Retrieved .

MATLAB Release Compatibility
Created with R2015a
Compatible with any release
Platform Compatibility
Windows macOS Linux
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Version Published Release Notes
1.0.0.0

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