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Stability analysis and efficiency of EMPC for Type-1 systems

Aravind, MA and Saikumar, N and Dinesh, NS and Rajanna, K (2019) Stability analysis and efficiency of EMPC for Type-1 systems. In: International Journal of Dynamics and Control, 7 (2). pp. 452-468.

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Official URL: https://doi.org/10.1007/s40435-018-0461-8


Experience mapping based predictive controller (EMPC) is a recently developed controller based on the concepts of Human Motor Control. It has been demonstrated to out-perform other classical controllers like proportional-derivative (PD), model reference based adaptive controller (MRAC), linear quadratic regulator (LQR) and the linear quadratic Gaussian (LQG) for both Type-1 and Type-0 systems. This paper analyses the stability and efficiency of EMPC for Type 1 systems. EMPC uses rectangular pulse input as control action for well-damped Type 1 systems and a first order decay input for under-damped Type 1 systems. The simulation results of EMPC for position control of a DC motor with a load coupled through a flexible shaft are presented as a case study to derive and prove the stability criterion. The efficiency of EMPC on a practical system is analysed in terms of energy dissipated in the armature resistance of the motor and the same is compared with PD, MRAC, LQR, LQG controller. Further, the computational cost of EMPC is discussed and compared with traditional controllers from the point of view of implementation.

Item Type: Journal Article
Publication: International Journal of Dynamics and Control
Publisher: Springer Berlin Heidelberg
Additional Information: The copyright for this article belongs to the Authors.
Keywords: Convergence of numerical methods; DC motors; Efficiency; Electric machine control; Man machine systems; Mapping; Model reference adaptive control; Optimal control systems; Position control; Stability criteria; System stability, Adaptive controllers; Classical controllers; Computational costs; Flexible shafts; Linear quadratic Gaussian; Linear quadratic regulator; Predictive controller; Proportional derivatives, Controllers
Department/Centre: Division of Electrical Sciences > Electronic Systems Engineering (Formerly Centre for Electronic Design & Technology)
Division of Physical & Mathematical Sciences > Instrumentation Appiled Physics
Date Deposited: 25 Oct 2022 09:41
Last Modified: 25 Oct 2022 09:41
URI: https://eprints.iisc.ac.in/id/eprint/77529

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