Model Predictive Control بسمه تعالی Model Predictive Control سعید شمقدری دانشکده مهندسی برق دانشگاه علم و صنعت ایران نیم سال دوم 93-92

CHAPTER 1: Introduction to Model Predictive Control

Example: Visually Guided Tracking System Paper: Smith Predictor Example: Visually Guided Tracking System Paper: Miall, R. C., Weir, D. J., Wolpert, D. M., and Stein, J. F., (1993), "Is the Cerebellum a Smith Predictor ?", Journal of Motor Behavior, 25, 203-216.

Smith Predictor

Smith Predictor Smith Predictor and MPC Outputs for Perfect Model Time (s) Smith Predictor and MPC Outputs for Perfect Model

Smith Predictor and MPC Outputs for Time Delay Mismatch Time (s) Smith Predictor and MPC Outputs for Time Delay Mismatch

Smith Predictor and MPC Outputs for Non-Minimum Phase System Time (s) Smith Predictor and MPC Outputs for Non-Minimum Phase System

Smith Predictor Error Case I Case II Case III Case IV Case V SPC 0.2664 0.3096 0.3271 0.3830 0.2485 MPC 0.0519 0.1363 0.1428 0.2525 0.0303 SPC = Smith Predcitor Controller, MPC = Model Predictive Controller, Error is root mean square errors (rad).