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Model predictive control for a class of systems with isolated nonlinearity.

Jili Tao1, Yong Zhu1, Qinru Fan1

  • 1Ningbo Institute of Technology, Zhejiang University, Ningbo 315100, PR China.

ISA Transactions
|April 24, 2014
PubMed
Summary

This study introduces a novel nonlinear model predictive control (NMPC) for mechatronic drive systems. The NMPC enhances regulatory capacity, improving reference tracking and disturbance rejection for improved system performance.

Keywords:
Mechatronic drive systemsModel predictive controlOverall convergent control strategyState space control

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Area of Science:

  • Control Engineering
  • Mechatronics
  • Nonlinear Systems

Background:

  • Mechatronic drive systems require advanced control for optimal performance.
  • Existing control methods may struggle with nonlinear dynamics and disturbances.

Purpose of the Study:

  • To design an overall convergent nonlinear model predictive control (NMPC) for nonlinear mechatronic drive systems.
  • To improve the regulatory capacity, specifically reference tracking and load disturbance rejection.

Main Methods:

  • A two-step controller design: first, a linear model predictive controller (LMPC) based on the system's linear part.
  • Second, an error-driven, overall convergent nonlinear component is added to the LMPC, creating a nonlinear controller.
  • The controller structure incorporates a set-point feed-forward loop, similar to PI optimal regulators.

Main Results:

  • The proposed NMPC demonstrates improved reference tracking and load disturbance rejection capabilities.
  • Performance is validated under both model match and model mismatch conditions.
  • The controller shows enhanced control performance compared to existing literature.

Conclusions:

  • The developed NMPC offers a robust and effective solution for nonlinear mechatronic drive systems.
  • The controller design successfully integrates linear and nonlinear control strategies for superior performance.
  • This approach advances control engineering for complex mechatronic applications.