Model Predictive Control of Resonant Systems Using Kautz Model

The scope of this paper broadly spans in two areas: system identification of resonant system and design of an efficient control scheme suitable for resonant systems. Use of filters based on orthogonal basis functions (OBF) have been advocated for modelling of resonant process. Kautz filter has been identified as best suited OBF for this purpose. A state space based system identification technique using Kautz filters, viz. Kautz model, has been demonstrated. Model based controllers are believed to be more efficient than classical controllers because explicit use of process model is essential with these modelling techniques. Extensive literature search concludes that very few reports are available which explore use of the model based control studies on resonant system. Two such model based controllers are considered in this work, viz. model predictive controller and internal model controller. A model predictive control algorithm has been developed using the Kautz model. The efficacy of the model and the controller has been verified by two case studies, viz. linear second order underdamped process and a mildly nonlinear magnetic ball suspension system. Comparative assessment of performances of these controllers in those case studies have been carried out.