Jupyter notebook Python code for Honours Thesis. Simulation and control of a Rotary Inverted Pendulum system (RIP) using Nonlinear Model Predictive Control (NMPC) with Iterative Dynamic Programming (IDP) as the optimisation algorithm adapted and used.
List of jupyter notebooks provided:
| File Name | Function |
|---|---|
| Rotary Inverted Pendulum NMPC Scheme | Contains all system dynamics, control algorithm and simulation scripts |
| Plots | Produces useful graphs for cost function analysis and simulation result data |
| IDP Parameter Testing | Scripts used for testing IDP parameters |
| IDP Parameter Plots | Produces plots to better analyse IDP parameter choices |
Some .csv files from test simulations and graphs of the results added as well.