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Robustness of Hybrid MPC Controllers for a Mechanical System with Backlash


K. Chung

Semester/Bachelor Thesis, FS 08

The goal of this semester thesis was to solve robustness problems previously encountered during a study in Model Predictive Control (MPC) of a mechanical system with backlash conducted at the Automatic Control Laboratory (IFA) of ETH Zurich. Control strategies were developed to mitigate the effects of backlash such as control performance degradation and reduced life of mechanical components due to wearing. Previous studies involved speed control of a rotary system consisting of a drive shaft and a load shaft with a backlash element between the two. Linear and hybrid MPC controllers were designed to control the speed of the load shaft under constraints. The controllers were tested on a testbed where the hybrid MPC controller exhibited unrobust behavior. A detailed review of the modeling and implementation procedures revealed that the unrobust behavior was due to an incorrect implementation strategy. This paper further describes the results obtained from an investigation of a hybrid MPC controller without constraints.

Supervisors: Prof. Dr. Manfred Morari, Thomas Besselmann, Stefan Richter


Type of Publication:

(13)Semester/Bachelor Thesis

M. Morari

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% Autogenerated BibTeX entry
@PhdThesis { Xxx:2008:IFA_3200
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