A new method to control heat and mass transfer to work piece in a GMAW process

► GMAW is one of several types of welding methods in the weld industry. ► Heat and mass transfer have high impact on weld geometry and its thermal properties. ► Control of heat and mass transfer in an automatic welding system is very important. ► Two-layer architecture comprising PI and constrained GPC controllers is implemented. ► The welding angle φ is considered as a disturbance entering the process.