MPC DESIGN FOR CONSTRAINED MULTIVARIABLE SYSTEMS UNDER ACTUATOR BACKLASH

• Main Authors: H., Zabiri, Y., Samyudia
• Other Authors: Shah, S .L.
• Format: Book Section
• Published: Elsevier Ltd. IFAC Publications 2005
• Subjects: TP Chemical technology
• Online Access: http://eprints.utp.edu.my/3732/1/72.pdf; http://books.google.com/books?id=qXUoFH1ZOp8C&lpg=PA643&ots=EUkkzFpTJa&dq=Keywords%3A%20actuator%20backlash%2C%20constrained%20systems%2C%20model%20predictive&pg=PP1#v=onepage&q=Keywords:%20actuator%20backlash,%20constrained%20systems,%20model%20predictiv; http://eprints.utp.edu.my/3732/
• Institution: Universiti Teknologi Petronas

A new approach to the design of Model Predictive Controller (MPC) that simultaneously addresses the actuator saturation and backlash is proposed in this paper. The discrete characteristics of the actuator backlash allows one to reformulate the input constraints as a set of mixed integer linear inequalities. As a result, the MPC is designed by solving a Mixed-integer Quadratic Programming problem. Simulation results are presented to show how this new approach performs as compared to the existing techniques of the backlash compensation when they are applied to an industrial case study.