An application of predictive functional control with a state observer-type internal model

We demonstrate the application of predictive functional control to a real-life position-control problem of a mechatronic system using a state observer-based internal model (PFC-OBIM). In the literature, the control method has been shown to be effective in simulation. However, no experimental validation has been conducted so far. Hence, we conduct a few experimental tests using a single-axis table drive system, and show that the control method actually works well, even in the experiment. We also compare our results with those from a disturbance observer-based PFC (PFC-DOB).