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Predictive control of earth station antenna with backlash compensation

In this paper, generalized predictive control (GPC) algorithm is implemented to control an earth station antenna. Nonlinear term in motors caused by gearbox or other parts is modeled by a backlash block. Simulation results show the effectiveness of GPC method for robust control in the presence of backlash nonlinearity without a priori knowledge about upper and lower bounds of backlash. Also, adaptation mechanism as a self tuning predictive control is used to conquer environment changing