Title :
Model based prediction, preview and robust controls in motion control systems
Author :
Tomizuka, Masayoshi
Author_Institution :
Dept. of Mech. Eng., California Univ., Berkeley, CA, USA
Abstract :
This paper describes the role of mathematical models in various model-based control schemes such as predictive control and preview control. To prevent the deterioration of performance of these control approaches in the presence of model uncertainties and disturbances, model based methods for state estimation, disturbance estimation and parameter identification may be utilized to obtain robust high performance motion control system
Keywords :
feedforward; linear quadratic Gaussian control; model reference adaptive control systems; motion control; parameter estimation; predictive control; robust control; state estimation; tracking; LQG control; disturbance estimation; model based prediction; model-based control; motion control systems; parameter identification; predictive control; preview control; robust control; state estimation; tracking; Adaptive control; Control systems; Feedback control; Mathematical model; Motion control; Optimal control; Predictive models; Programmable control; Robust control; State estimation;
Conference_Titel :
Advanced Motion Control, 1996. AMC '96-MIE. Proceedings., 1996 4th International Workshop on
Conference_Location :
Mie
Print_ISBN :
0-7803-3219-9
DOI :
10.1109/AMC.1996.509370
