Model Predictive Direct Torque Control: Derivation and Analysis of the State-Feedback Control Law

This paper derives and visualizes the explicit state-feedback control law of model predictive controllers for electrical drives, using model predictive direct torque control as an illustrative example. The control law is given over the whole state space and computed in an offline procedure. The availability of the control law allows one to analyze the controller and to visualize and better understand its behavior and decision making process. Based on this concept, numerous other important tasks can be accomplished, such as stability analysis, feasibility analysis, the reduction of the computational effort, the derivation of switching heuristics, and the further improvement of the closed-loop performance.