Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Real-time implementation of MPC for tracking in embedded systems:
  Application to a two-wheeled inverted pendulum   This article presents the real-time implementation of the model predictive
control for tracking formulation to control a two-wheeled inverted pendulum
robot. This formulation offers several advantages over standard MPC
formulations at the expense of the addition of a small number of decision
variables, which complicates the inner structure of the matrices of the
optimization problem. We implement a sparse solver, based on an extension of
the alternating direction method of multipliers, in the system's embedded
hardware. The results indicate that the solver is suitable for controlling a
real system with sample times in the range of milliseconds using current,
readily-available hardware.

8
The categories of this paper are: hep-ex
31
The categories of this paper are: ao-sci
34
The categories of this paper are: chem-ph
28
The categories of this paper are: alg-geom
37
The categories of this paper are: supr-con
3
The categories of this paper are: physics
20
The categories of this paper are: acc-phys
32
The categories of this paper are: atom-ph
15
The categories of this paper are: nucl-ex
4
The categories of this paper are: cond-mat
6
The categories of this paper are: astro-ph
29
The categories of this paper are: funct-an
27
The categories of this paper are: comp-gas
26
The categories of this paper are: bayes-an
9
The categories of this paper are: nlin
13
The categories of this paper are: quant-ph