The model predictive control (MPC) technique for an articulated robot with n joints is introduced in this paper. The .proposed MPC control action is conceptually different with the traditional robot control methods in that the control action is determined by optimising a performance index over the time horizon. A neural network (NN) is used in this paper as the predictive model. The training da...

In this paper, we present a comparative assessment of Space Vector Pulse Width Modulation (SVPWM) and Model Predictive Control (MPC) for two-level three phase (2L-3P) Voltage Source Inverter (VSI). VSI with associated system is subjected to both control techniques and the results are compared. Matlab/Simulink was used to model, simulate and validate the control schemes. Findings of this study s...

1 [email protected] Abstract : A multi-model structure for model predictive control has been established for a petroleum distillation column through first principle analysis, and its parameters have been estimated from data generated by a rigorous model. The nonlinear multi-model has been used for state-estimation and prediction in a MPC scheme. The controller has been applied to quality ...

In this paper we developed a control scheme for a Quanser Flexible Link experiment. The purpose of the paper is to design a controller which reduces (eliminates) the undamped oscillations of the tip of the beam while commanding the tip to a desired position. First, we design a control scheme with a model predictive controller. Model predictive control (MPC) is a well-known technique used to (su...

Therefore, the presence of the plant model is a necessary condition for the development of the predictive control. The success of MPC depends on the degree of precision of the plant model. In practice, modelling real plants inherently includes uncertainties that have to be considered in control design, that is control design procedure has to guarantee robustness properties such as stability and...

Model predictive control (MPC) is a very popular controller design method in the process industry. A key advantage of MPC is that it can accommodate constraints on the inputs and outputs. Usually MPC uses linear discrete-time models. In this report we extend MPC to a class of discrete-event systems that can be described by models that are “linear” in the max-plus algebra, which has maximization...