Experimental Results on Actuator/Sensor Failures in Adaptive GPC Position Control

This work relates to the reliable generalized predictive control issues in case when actuator or sensor failures take place. The experimental results that form basis from which conclusions are drawn have been obtained position of a servo drive task, and extend prior research author, dedicated velocity problems. On numerous experiments, it has shown configuration prediction horizons is most advantageous performance viewpoint adaptive framework, cope with latter failures, related minimum deterioration comparison nominal, i.e., failure-free, case. study main novelty presented work, as other papers available field rather focus on additional modifications not leaving possible room for optimization/alteration horizons’ values. experiments conducted laboratory stand Modular Servo System Inteco connected mechanical backlash module cause actuator/sensor failure-like behavior, magnetic brake show an unexpected load.