| Abstract |
This paper presents a two-steps design procedure for Generalized Predictive Control (GPC)
controllers, and the experimental results obtained with this algorithm applied to the position control of
an induction motor. In the first step of the design procedure, an initial GPC controller is required to
ensure the desired input/output tracking behaviour. This initial controller is then robustified
considering temporal and frequency constraints, which are formulated by means of the Youla
parametrization within a convex optimisation framework. The optimal Youla parameter is finally
obtained by solving this optimisation problem. The Youla parametrization permits closed loop convex
specifications, and the two-degrees of freedom GPC controller allows to robustify the initial controller
without changes in the input/output behaviour. Moreover, a compromise between robustness and
closed loop behaviour, like disturbance rejection, can be easily managed. An application to the
position control of an induction motor drive is presented, where the robustness of the initial GPC
controller regarding model uncertainties in high frequency is enhanced while respecting a temporal
template for the disturbance rejection. The results are finally compared to those obtained with an
anticipative PID controller. |
