POPCORN: CAD for predictive polynomial control application to motor drives

The POPCORN (Polynomial Predictive Control and Robustness) software package, created for the design of predictive control laws using polynomial structures, such as the generalized predictive control (GPC) method, is presented. The main ideas of GPC are given, from the basic scheme to the final expression of the control law and including generalization to a cascaded version. Then the different blocks of the CAD software and its possibilities, in terms of flexibility and interactive aspects, are described. Some experimental results are given to emphasize the usefulness of such an approach for the design of performant control laws