A Self Detection and Compensation of Actuator Backlash in the Framework of Constrained MPC Design

• Main Authors: H., Zabiri, Y., Samyudia
• Format: Conference or Workshop Item
• Published: 2004
• Subjects: TP Chemical technology
• Online Access: http://eprints.utp.edu.my/3741/1/ascc_29mar.pdf; http://www.scopus.com/record/display.url?origin=recordpage&eid=2-s2.0-16244395842&noHighlight=false&sort=plf-f&src=s&st1=zabiri&st2=h&nlo=1&nlr=20&nls=first-t&sid=E5NmG27IsJfsII9yXMDsTvP%3a73&sot=anl&sdt=aut&sl=37&s=AU-ID%28%22Zabiri%2c+Haslinda%22+196393; http://eprints.utp.edu.my/3741/
• Institution: Universiti Teknologi Petronas

In this paper, we present a so-called self detection and estimation scheme for the on-line implementation of our Mixed Integer Quadratic Programming (MIQP)-based design of MPC, which addresses simultaneously the actuator saturation and backlash nonlinearity. The estimation scheme is required to determine a set of design parameters required by the MIQP-based MPC for compensating for the backlash effect. The scheme automatically locates the backlash in actuators, and then estimates the size of its dead-band, from the on-line measurements of plant inputs. We illustrate the application of the proposed method to the control of composition and liquid levels in a paper machine head-box system, where the MIQP-based MPC design equipped with the on-line detection and estimation scheme is able to compensate for the backlash effects, and then to regain its nominal performance in the presence of actuator backlash.