Title :
MPC With a NMSS Model
Author :
Xi, Zhiyu ; Hesketh, Tim
Author_Institution :
Univ. of New South Wales, Sydney
fDate :
May 30 2007-June 1 2007
Abstract :
Many control methods have been applied to the ball and beam system. In this paper, simulation and on-line control results are presented. For MPC controllers designed using a NMSS model, a time delay is introduced into the predictive model to account for aspects of system behavior. A non-minimal state-space model is used to derive a model-predictive controller. The results indicate that high-gain control coupled with model-following and feedforward action provides a linear controller robust against the system´s typical non-linearities and disturbances.
Keywords :
beams (structures); delays; gain control; nonlinear control systems; predictive control; robust control; state-space methods; ball system; beam system; feedforward action; high-gain control; model predictive control; nonminimal state-space model; robust control; system behavior; Australia; DC motors; Delay effects; Impedance; Linear feedback control systems; Open loop systems; Predictive models; Shafts; State-space methods; Telecommunication control;
Conference_Titel :
Control and Automation, 2007. ICCA 2007. IEEE International Conference on
Conference_Location :
Guangzhou
Print_ISBN :
978-1-4244-0818-4
Electronic_ISBN :
978-1-4244-0818-4
DOI :
10.1109/ICCA.2007.4376767
