Predictive control of disturbed systems with input delay: experimental validation on a DC motor∗

This paper deals with the speed control of a DC motor with known input delay and unknown disturbances. A recent predictive technique is used in order to design two controllers that will be able to satisfactorily reject disturbances in spite of the time delay. A comparison between the Artstein reduction method and this new one is performed throughout the article. The control laws are validated first by simulation and then by a practical implementation. The paper presents the very first application of this new predictive method.