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1568 JOURNAL OF COMPUTERS, VOL. 8, NO. 6, JUNE 2013
11.5 x 10-8 Var(U)
11
MVC3 curve
good
bad
tuned
10.5
Var(Y)
10
9.5
9
8.5
8
1 2 3 4 5 6 7 8 9
x 10 -8
Figure 10. Single inverted pendulum device
Figure 8. MVC 3 performance evolution curve
steady state error of good, bad, tuned. η 1 , η 2 , η 3 denote
their corresponding ratio. The bar chart is shown in Fig. 9.
It confirms the correctness and feasibility of MPC tuning
method.
1
0.9
0.8
0.7
0.6
0.5
Figure 11. MPC control loop
0.4
0.3
0.2
0.1
0
good bad tuned
Figure 9. Bar chart of performance evolution
VI. ACTUAL CONTROL ON THE DEVICE
A. Construct MPC Controller
The photo of single inverted pendulum device
provided by Googol Technology LTD is shown in Fig.10.
MPC controlled system was constructed on Matlab
real-time control platform provided by Googol
Technology LTD shown in Fig. 11.
Parameters of k_acker block was set to stabilizer
feedback gain and weight matrixes QR , of MPC
controller was set to which calculated from nominal
model. Run-time curves were shown in Fig.12.
Obviously, under the permission of variance
constraints, MPC controller can reach steady state in a
short period of time.
B. Tuning Process
Run the MPC controller tuning system, and preprocess
manipulated variable u by limiting filter, the effect
curves can be shown in Fig. 13.
Figure 12. MPC run-time operating curves
Steady state variance of manipulative variable and
outputs were calculated and shown in Fig. 14.
Bar charts shows MPC controller performance has
been restored and the tuning system is feasible.
VII. CONCLUSION
In this work, an extended MVC 3 method and its LMI
solution were applied to infinite MPC controller
performance evaluation and parameters tuning system.
Using extended MVC 3 principle to monitor controlled
system, if controller performance declined is detected, it
can be improved by resetting MPC weighted matrixes
with controller tuning algorithm. Simulation and device
operation on single inverted pendulum device provided
by Googol Technology LTD reaffirm the correctness of
this system. Also, the introduction of LMI solution makes
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