Enhanced two-loop model predictive control design for linear uncertain systems

doi:10.23919/JSEE.2021.000019

Abstract

Abstract:

Model predictive controllers (MPC) with the two-loop scheme are successful approaches practically and can be classified into two main categories, tube-based MPC and MPC-based reference governors (RG). In this paper, an enhanced two-loop MPC design is proposed for a pre-stabilized system with the bounded uncertainty subject to the input and state constraints. The proposed method offers less conservatism than the tube-based MPC methods by enlarging the restricted input constraint. Contrary to the MPC-based RGs, the investigated method improves tracking performance of the pre-stabilized system while satisfying the constraints. Additionally, the robust global asymptotic stability of the closed-loop system is guaranteed in a novel procedure with terminal constraint relaxation. Simulation of the proposed method on a servo system shows its effectiveness in comparison to the others.

Key words: model predictive control (MPC), robust control, cascade control, constraint satisfaction

FARAJZADEH-DEVIN Mohammad-Ghassem, HOSSEINI SANI Seyed Kamal. Enhanced two-loop model predictive control design for linear uncertain systems[J]. Journal of Systems Engineering and Electronics, 2021, 32(1): 220-227.

Figures/Tables 9

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Parameter	Expression	Value
v_a	Rotor/armature voltage	[?5,5]
i_a	Rotor/armature current	—
R_a/Ω	Rotor/armature resistance	0.5
L_a/H	Rotor/armature inductance	1.5×10^?3
i_e	Stator current	—
Ki_e/(V/(rad/s)) or (N-m/A)	Torque constant	0.05
θ	Angular position	—
ω	Angular velocity	—
T_m	Motor torque	—
T_l	Load torque	—
J/(N-m/(rad/s²))	Rotor inertia	2.5×10^?4
F/(N-m/(rad/s))	Viscous friction coefficient	1.0×10^?4

Example	Method	ISE	ISE-DI
1	Nominal MPC [26]	61.82	2.43
	TB-MPC [4]	103.72	1.04
	Proposed TL-MPC	59.68	1.04
2	SC	1.16	0.07
2	Proposed TL-MPC	0.14	0.05

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