Predictive control of disturbed systems with input delay: experimental validation on a DC motor

Vincent Léchappé (1) , Oscar Salas (2) , Jesus de Leon (2) , Franck Plestan (1) , Emmanuel Moulay (3) , Alain Glumineau (1)

1 IRCCyN - Institut de Recherche en Communications et en Cybernétique de Nantes
2 UANL - Universidad Autonoma de Nuevo Leon [Mexique]
3 XLIM-SIC - SIC

This paper deals with the speed control of a DC motor with known input delay and unknown disturbances. A recent predictive technique is used in order to design two controllers that will be able to satisfactorily reject disturbances in spite of the time delay. A comparison between the Artstein reduction method and this new one is performed throughout the article. The control laws are validated first by simulation and then by a practical implementation. The paper presents the very first application of this new predictive method.

Mots clés: disturbance attenuation; DC motor; input delay; predictive control

Domaines: Automatique / Robotique

Vincent Léchappé, Oscar Salas, Jesus de Leon, Franck Plestan, Emmanuel Moulay, et al.. Predictive control of disturbed systems with input delay: experimental validation on a DC motor. 12th Time Delay Systems Workshop, Jun 2015, Ann Arbor, United States. ⟨10.1016/j.ifacol.2015.09.393⟩. ⟨hal-01263708⟩