Experience mapping based prediction controller for the smooth trajectory tracking of DC motors

Stability analysis and efficiency of EMPC for Type-1 systems

“…Stability of OJR based adaptation using PCC can be evaluated by modifying the criteria for stability given by Eqn. 17 When K = K sa , the steady state value Y 1 is given by Eqn.8. P CC is calculated using Y 1 as…”

“…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].…”