Controle preditivo com modos deslizantes de um sistema de levitação magnética empregando programação multiparamétrica (Sliding mode predictive control of a magnetic levitation system employing multi-parametric programming)

Pedro Augusto Queiroz Assis (pedroaugusto.feis@gmail.com)1, Roberto Kawakami Harrop Galvão (kawakami@ita.br)1


1Instituto Tecnológico de Aeronáutica

This paper appears in: Revista IEEE América Latina

Publication Date: Feb. 2017
Volume: 15,   Issue: 2 
ISSN: 1548-0992


Abstract:
This paper is concerned with the application of sliding mode predictive control (SMPC) on a laboratory-scale magnetic levitation system. The main contribution consists of the use of multi-parametric programming to reduce the computational workload required for real-time implementation. For comparison, a conventional sliding mode controller was also employed. The task consisted of tracking a reference signal in the presence of control rate constraints. In this scenario, the sliding mode controller was not able to maintain closed-loop stability, whereas the SMPC controller successfully performed the tracking task, with proper satisfaction of the constraints.

Index Terms:
Model Predictive Control, Sliding Mode Control, Sliding Mode Predictive Control, Multi-parametric Programming, Magnetic Levitation   


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