Multilayer soft switchable predictive speed controller for the drive with elastic coupling

The paper presents a new robust predictive speed controller with soft-switched controls. The proposed control structure is based on the predictive controller off-line calculated for different values of the unknown parameter. Then, depending on the parameter estimates soft switching approach follows between the MPC control laws. A preliminary point discusses the problems of motion control of the drive with elastic coupling and variable parameters. In the following chapters a model of the drive and the proposed control structure is presented. Theoretical considerations are supported by experimental studies.