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Robust torque constraints handling in drive systems with elastic transmission

This paper investigates the effectiveness of Model Predictive Control (MPC) in dealing with torsional vibrations and torque constraints in a two-mass elastic drive system under plant uncertainty and parameter variation. The methodology for designing low complexity MPC controllers for speed regulation and vibration suppression is discussed and validated on a real two-mass drive system. Selected experimental results confirm that the proposed MPC speed controller is very effective in dealing with tight torque constraints requirements under significant plant parameter uncertainty.