Predictive self-tuning of speed control parameters based on parabolic command

The servo industrial application using the traditional generalized predictive control (GPC) is limited by reference commands. To solve the above problem, a special structural integral proportional (SSIP) controller based on extended generalized predictive control (EGPC) is designed in this paper. Firstly, an SSIP controller is designed to progressively suppress higher-order interference and realize error-free tracking of parabolic command. Then, a backward third-order difference operator is used to build an augmented prediction model based on the controlled object, whose output incorporates of the speed error, so that the EGPC is released from the speed command. Next, the optimal control law is obtained by the rolling optimization to realize the parameters mapping of the SSIP controller. Finally, the simulation results verify that the proposed method has obvious advantages in tracking accuracy and anti-disturbance ability compared with the existing control methods.