Position Control Of A Stewart Platform Using Dynamic Matrix Control

This paper presents a dynamic matrix controller (DMC) for six degree of f reedom (6 DOF) Stewart platform based on parallel mechanism in order to track reference trajectory in the mechanism workspace. Dynamic matrix control is a particular type of model predictive control (MPC), which are framed as advanced controllers. This controller is an industrial controller that is utilized base d on the system step response coefficients. The DMC shows ro bust performance for different size of input signals, and prediction and control windows. This method is a generalization of pole placement methods and optimal control. It also shows good tracking performance and benefit when considering input or output constraints, which is often the case in real industrial systems.