Enhancing Real-world Inverted Pendulum Stabilization: Addressing External Perturbations with Feedback and Model Predictive Control

This paper compares wave perturbations on an inverted pendulum cart to hybrid wind-wave energy platform stabilization. The proposed pendulum system stabilization method uses feedback control and model predictive control to account for the system's nonlinear dynamics and external disturbances. The proposed method stabilizes the pendulum under wave and wind disturbances in simulations. The findings emphasize the importance of external factors in controller design and operation and provide valuable insights into model predictive control for nonlinear systems. The findings suggest that the proposed approach may improve the efficiency of similar systems, such as hybrid wave/wind energy platforms.