in this paper standing balance control of a biped with toe-joint is presented. the model consists of an inverted pendulum as the upper body and the foot contains toe-joint. the biped is actuated by two torques at ankle-joint and toe-joint to regulate the upper body in upright position. to model the interaction between foot and the ground, configuration constraints are defined and utilized. to s...

This research paper studies and highlights the features of most popular finite control set model predictive (FCS-MPC) strategies available in state art, which are optimal switching vector (OSV-MPC), modulated (M2PC), sequence (OSS-MPC) methods. Thus, these studied experimentally by analyzing transient steady performance using a grid tie conventional three-phase two-level voltage source inverter...

This study presents a detailed description of a cost function-based predictive control strategy called Finite Control Set Model Predictive Control (FCS-MPC) and its applications to the control of power electronics converters. The basic concepts, operating principles and general properties of this control technique have been explained. The analysis is performed on two different power converter t...

The control performance of the finite set model predictive current (FCS-MPCC) for interior permanent magnet synchronous machine (IPMSM) depends on accuracy mathematical model. A novel robust method based error compensation is proposed in order to reduce parameter sensitivity and improve robustness. In this method, equivalent parameters are obtained from known voltage information at past time be...