Parametric investigation of Linear Quadratic Gaussian and Model Predictive Control approaches for thermal regulation of a high precision geometric measurement machine

Two configurations (points to be controlled close to or far from actuators and perturbations) are studied. A parametric analysis is carried out and shows the main differences between both control techniques. For MPC, the lower the penalization coefficient is, the better the results are, provided that the number of time steps for prediction horizon is sufficiently large. On the contrary, for LQG, it has been observed that decreasing the cost parameter down to its critical value for which the LQR Riccati equation cannot be solved anymore, leads to the control failure.