Model predictive control of a mechatronic system with variable inputs

The mechatronic system with variable parameters operating under varying conditions discussed in this paper refers to an electric drive system for winding a strip with constant linear velocity on a drum. The continuously variation of the plant inputs, namely reference and load disturbance, is determined by the increasing radius and hence moment of inertia of the drum. This paper suggests a conventional control structure with a model predictive controller using a detailed mathematical model of the plant. This structure is advantageous due to its simplicity, straightforward formulation and simple design.