Patched LQR control for robust protection of multi-mass electrical drives with constraints

In this paper we successfully experimentally verify the recently introduced protective predictive controller patch for multi-mass drives subject to physical and safety constraints on their variables. The protective patch is obtained through set-theoretic computations that account for the drive model and constraints, as well as the state estimation uncertainties. It is used in combination with the classical LQR controller. The easy implementation of the patch online allows the correction of the LQR control signal in order to suppress the violation of drive constraints and thus avoid possibly dangerous and/or drive-harmful situations during the transients.