Story

The linked article is about the implementation of a Model Predictive Control (MPC) algorithm to solve the cart-pole balancing problem, a classic control system challenge. The article walks through the mathematical formulation of the problem, the design of the MPC controller, and the simulation results demonstrating the effectiveness of the approach. The author provides a detailed explanation of the optimization problem and the constraints involved, as well as the choice of a quadratic cost function to stabilize the system.