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Stable Predictive Control with Input Constraints Based on Variable Gain Approach

D. Vozák(1*), V. Veselý(2)

(1) Institute of Robotics and Cybernetics, Faculty of Electrical Engineering and Information Technology, Slovak University of Technology (FEI STU), Slovakia
(2) Department of Automatic Control Systems, STU FEI, Slovakia
(*) Corresponding author



The paper presents a method of the predictive controller design which guarantees robust stability of the closed-loop system and minimizes the sum of squares of errors. Design is divided into the robust stabilization based on the robust PID controllers, optimal control with minimization of the cost function and soft input constraints handling with a variable gain.  Stability is guaranteed in the presence of input constraints. Results are experimentally confirmed on the magnetic levitation model which is an unstable SISO process.
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Predictive Control; Robust Stability; SISO; Sum of Squares of Error; Input Constraints

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