Self-tuning predictive control of a coupled drives process

Abstract

This paper is focused on an application of a self - tuning predictive controller for real - time control of a coupled drives apparatus laboratory model, which models a multivariable non-linear system. The controller integrates an on - line identification of an ARX model of a controlled system and a predictive control synthesis on the basis of the identified parameters. The model parameters are recursively estimated using the recursive least squares method with the directional forgetting. The control algorithm is based on the Generalised Predictive Control (GPC) method. The optimization was realized by minimization of a quadratic objective function. The predictive controllers design is based on a multivariable CARIMA model. Results of real-time experiments are also included.