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Hybrid Theory Based Model Predictive Control of Electrical Drives with Friction


I. Petrovic, M. Baotic, L. Matic, N. Peric

EPE European Conference on Power Electronics and Applications, Toulouse, France

In this paper hybrid theory has been applied to design a state-feedback control law of an electrical drive with friction. The drive is modeled as a piecewise affine (PWA) system and a finite time optimal control problem is formulated for such a hybrid system. Three most often used friction models are considered and compared based on their suitability for the PWA description. It is shown that a reset-integrator friction model gives a PWA model of smaller complexity than LuGre and Karnopp friction models. A state-feedback optimal control law in a form of a look-up table is then derived via dynamic programming. The control system behavior is tested by computer simulations. The results indicate that the proposed control strategy is a valuable alternative to the currently used control strategies.


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% Autogenerated BibTeX entry
@InProceedings { PetEtal:2003:IFA_241,
    author={I. Petrovic and M. Baotic and L. Matic and N. Peric},
    title={{Hybrid Theory Based Model Predictive Control of Electrical
	  Drives with Friction}},
    booktitle={EPE European Conference on Power Electronics and
    address={Toulouse, France},
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