Optimal and MPC Control of the Quanser Flexible Link Experiment
نویسندگان
چکیده
In this paper we developed a control scheme starting from Bond Graph representation of the Quanser Flexible link experiment. The objective of the experiment is to design a control system that positions the flexible arm as well as regulating vibration. The structure of the control scheme uses two types of control methods. In order to achieve a faster or robust response together with optimal control, we computed two model predictive controllers. LQR control and MPC control are based on the optimization of the cost function, except that MPC control handles constraints in the optimization. Key-Words: Flexible link, Bond Graph, Optimal control, MPC control
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