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Adaptive experience mapping based predictive controller for under-damped type 1 systems

Aravind, MA and Dinesh, NS and Rajanna, K (2018) Adaptive experience mapping based predictive controller for under-damped type 1 systems. In: International Journal of Dynamics and Control, 6 (4). pp. 1719-1736.

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Official URL: https://doi,org/10.1007/s40435-018-0396-0


This paper improves upon experience mapping based predictive controller (EMPC) for an under-damped type 1 system which is a fairly new concept presented in literature. EMPC has been earlier demonstrated for an under-damped type 1 system. However, the earlier EMPC controller did not address changes in system parameters and hence the performance in terms of rise time and overshoots deteriorated with change in friction and inertia. This paper develops a theoretical basis for EMPC presented earlier. An adaptation technique is proposed for EMPC to control under-damped type 1 systems for variations in load friction and inertia. The present control action is decided based on the steady state error due to the previous control action. The general nth order type-1 under-damped system is simulated and the results of simulation for system variation and various demands are presented. EMPC is shown to perform robustly with adaptation. Adaptive EMPC controller is shown to outperform proportional derivative controller and a Model reference based adaptive controller. The system is also simulated and practically implemented with a PMDC motor based positioning system coupled to a load through a flexible shaft. The results of these simulations and experiments are presented and it is observed experimentally that adaptive EMPC performs well.

Item Type: Journal Article
Publication: International Journal of Dynamics and Control
Publisher: Springer Berlin Heidelberg
Additional Information: The copyright for this article belongs to Springer Berlin Heidelberg.
Keywords: DC motors; Friction; Mapping; Model reference adaptive control; Optimal control systems; Position control, Adaptation techniques; Adaptive controllers; Damped systems; Experience mappings; Flexible shafts; Predictive controller; Proportional-derivative controllers; Steady state errors, Controllers
Department/Centre: Division of Physical & Mathematical Sciences > Instrumentation Appiled Physics
Date Deposited: 02 Aug 2022 11:41
Last Modified: 02 Aug 2022 11:41
URI: https://eprints.iisc.ac.in/id/eprint/75129

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