Application of the MPC to the robust control of the two-mass drive system

In this paper, a model predictive controller (MPC) for the speed control for an electrical drive with elastic connection is presented. The control methodology enables the drive's safety and physical limitations to be directly incorporated into control synthesis. The methodology for robust design based on the suitable selection of the system matrices of the MPC is presented. The simulation results show that the controller is very effective in regulating load speed for a wide-range of the changes of the load side inertia. Preliminary experimental results confirm the simulation study.