Robust Model Integral Predictive Control Design for Reference Tracking DC Servomechanism

Model Predictive Control (MPC) has been very successful in the control industries due to its ability to handle uncertainty in physical systems with some constraints. Due to its higher power density, DC servomechanism is used in control systems of several industrial applications. However, the DC servomechanisms suffer severe throttling loss, leading to low effectiveness, and the uncertainty parameters and distortions caused by the changing system environment harm their performance. In this paper, a Robust Integral MPC (RIMPC) model is designed to enhance the efficiency of the DC servomechanism control system. Uncertainties and nonlinearity of the parameters are taken into consideration. In RIMPC, MPC is incorporated into the integral controller synthesis through an optimization problem subjected to some Linear Matrix Inequality (LMI) constraints to generate the control law of the servomechanism dynamics. The performance of the proposed system is evaluated in two cases: with no disturbances and when disturbances are affecting the system. The obtained results are analyzed and compared with other controllers' design, such as Proportional Integral Derivative (PID) controller and the Monte Carlo (MC) controller. The obtained results prove that the proposed system is more effective in cost function and transient performance (rise time, peak time, maximum overshoot, and settling-time), indicating a much better reference tracking accuracy and proposed method robustness.