Application of EMPC for under-damped Type-1 systems

Stability analysis and efficiency of EMPC for Type-1 systems

“…EMPC therefore, proposes a control action c(t) defined by Eqn.26, for the control of a Type 1 underdamped system [20].…”

“…It can be seen that for α < b 2a , the system shows no overshoot, as shown in Fig.12. It may also be observed that the system rise time increases for smaller values of α [20] [21]. For the learning phase, a value of α is chosen which satisfies the condition mentioned, and for which the system meets the rise time requirements.…”

“…The various parameters are as per Table2. EMPC for the under-damped system proposes a first order decaying input to be the control action to the system [20]. The parameters for control have been discussed in [20] and for the system simulated here, the parameters are learnt based on previous literature.…”

“…In the case of OJR, at the end of an iteration, another multiplication is performed to get PCC which is applied in subsequent iterations. In the case of the under-damped system, a third multiplication occurs during the application of control action to calculate the first order decay input [20].…”

“…Recently, a new control algorithm called the Experience Mapping based Predictive Controller (EMPC) was developed for position control [14] [15] [16] [17] and speed control [18] [19] of a DC motor and shown to outperform other robust controllers. The concepts were further improved to extend the control for underdamped Type-1 systems in [20] [21].…”