New sub-optimal control methods for electromechanical systems

As a result of the developments of modern-day technology, the usage and the importance of the electromechanical systems that uses both mechanical and electronic systems together are gradually increasing in every field. Nowadays systems have complex, multivariable and interactively working structures that they are also subjected to constraints and have nonlinear system models generally. For this reason, designers use systems that are similar to these systems but have much more simple structures to develop and try the control algorithms and apply the control methods. Inverted pendulum is one these simple systems that can be used in the design of the control systems that their equilibrium condition can be destroyed dynamically so readily and have nonlinear dynamics.In this work, Model Predictive Control (MPC) Method, which is an advanced control method based on an optimization, is applied to a control problem that is defined for a cart-pendulum system. MPC strategy depends on optimizing a particular performance criterion to predict the future behaviour of the system by using the system?s model and the constraints subjected to the system directly in the controller design process. The aim of this work is, by the applications and simulations done, to constitute a design approach and an optimization problem structure which can be adapted for much more complex systems than simple inverted pendulum system.