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.
See the dynamic optimization course at http://apmonitor.com/do for additional examples in MATLAB and Python.
John Hedengren (2021). Inverted Pendulum Model Predictive Control (https://www.mathworks.com/matlabcentral/fileexchange/51197-inverted-pendulum-model-predictive-control), MATLAB Central File Exchange. Retrieved .
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