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

2. CHAPTER 1: Introduction to Model Predictive Control

3. 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,

5. Smith Predictor

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

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

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

9. Smith Predictor Error Case I Case II Case III Case IV Case V
SPC
MPC
SPC = Smith Predcitor Controller,
MPC = Model Predictive Controller,
Error is root mean square errors (rad).