Explicit Model Predictive Control for Large Inertia Servo System

This paper aims at improving the dynamic response and control precision of large inertia servo system with time-varying loading disturbance by using the scheme of explicit model prediction control (EMPC). The dynamic model of the large inertia servo system was directly established, the loading disturbance was observed by the dual unscented Kalman filter (DUKF) and the constraints such as system performance, input and braking power were considered. Thus, the EMPC control strategy was realized. The experimental results show that the response time is reduced with satisfactory control precision and the expected performance has been achieved.