Practice articlePredictive IP controller for robust position control of linear servo system

- A special second-order is employed to simplify the Diophantine equations.
- The cost function of GPC here only requires a future position tracking error item and a penalization item on the force current command.
- The application of GPC law is further advanced for the self-tuning IP controller.
- Simulation and experimental results have validated the efficiency of IP controller.

Position control is a typical application of linear servo system. In this paper, to reduce the system overshoot, an integral plus proportional (IP) controller is used in the position control implementation. To further improve the control performance, a gain-tuning IP controller based on a generalized predictive control (GPC) law is proposed. Firstly, to represent the dynamics of the position loop, a second-order linear model is used and its model parameters are estimated on-line by using a recursive least squares method. Secondly, based on the GPC law, an optimal control sequence is obtained by using receding horizon, then directly supplies the IP controller with the corresponding control parameters in the real operations. Finally, simulation and experimental results are presented to show the efficiency of proposed scheme.