Application of EMPC for under-damped Type-1 systems

摘要

This paper presents design of a new controller based on the concept of Experience Mapping based Predictive Controller (EMPC) for an under-damped Type 1 system. The earlier design of EMPC uses rectangular pulse input as control action for well damped Type 1 systems. However, this control action is not suitable for under-damped systems as it produces undesirable oscillations. The proposed design modifies the basic control action to suit under-damped systems by reducing overshoots and oscillations. The proposed controller is used to control a DC motor based positioning system with a load coupled through a flexible shaft, which constitutes an under damped position system. The simulation results show that the proposed controller performs better than traditional controllers like the Proportional-Derivative (PD), and State Space based controllers like the Linear Quadratic Regulator (LQR) and the Linear Quadratic Gaussian (LQG) controller.