2022-11-242022-11-242021978-94-6384-236-5https://hdl.handle.net/11441/139759This 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.application/pdf6 p.engAttribution-NonCommercial-NoDerivatives 4.0 Internacionalhttp://creativecommons.org/licenses/by-nc-nd/4.0/Model predictive controlEmbedded systemExtended ADMMinfo:eu-repo/semantics/conferenceObjectinfo:eu-repo/semantics/openAccess10.23919/ECC54610.2021.9654899