Protective predictive control of electrical drives with elastic transmission

In this paper we propose a protective predictive control scheme for motor drives with elastic transmission that are subject to physical and safety constraints on their variables. Namely, we extend the classical LQR controller with a safety set obtained using invariant sets methodology. The easy implementation of this set on-line allows the correction of the LQR control signal in order to suppress the violation of constraints and thus avoid possibly dangerous situations during the drive transients. The added protective algorithm can be also used with any other drive control scheme to correct its outputted control signal.