Predictive compensation implemented with a microprocessor

This paper describes the application of approximated predictors to compensate error-sampled systems. The study was made by implementing the predictors in a
Z
-80 microprocessor to compensate a servomechanism simulated on an analog computer. The effects of the sampling rate and variations in the model parameters on the stability of the system were observed. The addition of approximated predictors improved the stability of the closed loop; this effect was more pronounced for low sampling rates.