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- W2000268410 abstract "The benefits of Model Predictive Control (MPC) as a control technique have been well established. However its application to reference tracking on Digital Servo Drives (DSDs) which typically have very fast update rates is limited by the computational power of present-day processors. This paper presents a novel MPC formulation, which provides a mechanism to trade-off online computation effort with tracking performance, while maintaining stability. This is achieved by introducing a trajectory horizon, which is distinct from the prediction and control horizons typically encountered in MPC formulations. It is shown that increasing the trajectory horizon inherently leads to improved tracking, however larger horizon lengths also have the unwanted effect of increasing online computation. The proposed MPC formulation is compatible with recently developed explicit MPC solutions, and hence the burden of online optimisation is avoided. The proposed approach (formulated as an explicit MPC solution) is successfully implemented on an industrial machine tool DSD, and is shown to outperform the incumbent approach of cascaded PID control." @default.
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- W2000268410 date "2011-01-01" @default.
- W2000268410 modified "2023-10-17" @default.
- W2000268410 title "Explicit Model Predictive Control for Reference Tracking on an Industrial Machine Tool" @default.
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- W2000268410 doi "https://doi.org/10.3182/20110828-6-it-1002.00579" @default.
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