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Robust model predictive control of a motor drive with control input constraints

In this paper, position control of a servo drive using a constraint model predictive control (MPC) algorithm is presented. By minimizing a cost function that is a sum of the position tracking errors and the control cost over some user defined time horizons, the optimum controller can be derived to deal with the actuator saturation using the Lagrange multiplier approach. Experimental results have demonstrated that the approach is effective in dealing with large position command that causes actuator saturation.