This paper investigates the effectiveness of Model Predictive Control (MPC) in dealing with torsional vibrations in a two-mass elastic drive system under parameter variation. The methodology for robust design based on the optimalization of the system matrices of the MPC cost function is presented. Selected experimental results confirm that the proposed MPC speed controller is very effective in dealing with tight torque constraints requirements under significant plant parameter uncertainty.
['P. J. Serkies', 'T. Orłowska-Kowalska', 'Marcin Cychowski', 'Krzysztof Szabat']
Robust model predictive speed control of the drive system with an elastic joint