Application of predictive control for a 2-DOF platform

This paper presents an experimental study of the position and velocity control system of a 2-degrees-of-freedom platform, through the use of a predictive linear controller, based on control polynomials with constraints. The effect of noise on the control signal is studied as well as different alternatives for reducing it. Different control alternatives are compared on the real system, and the proposed controller is shown to be very appropriate for this type of systems. On top of this, the attained implementation considerably reduces the computation time.