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Parameter-disturbance-robust model predictive control of input-saturated MIMO fractional systems

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Abstract

This paper primarily discusses the solution to multi-degree of freedom linear time invariant fractional order dynamic systems with fractional actuators in detail. This solution is of significant importance due its ease of usage and compatibility with digital systems. Subsequently, a modified model predictive control (MMPC) scheme is introduced that is an infusion of a novel discrete-time robust sliding mode control and model predictive control. The proposed modified model predictive control algorithm is proven to illustrate robustness against uncertainty in system’s parameters and external disturbance while abstaining from the undesirable characteristics of sliding mode control such as chattering. By employing the MMPC scheme, it is possible to constrain the control inputs to be less than pre-determined bounds and by this mean, take a step toward making this algorithm more suitable for practical applications. A general and illustrious plant, represented by the famous Torvik’s three parameter model, is selected and the proposed control scheme is applied to further elucidate the merits, qualities and capabilities of MMPC for fractional systems. The corresponding MATLAB code for the simulation section is also presented in the appendix of the paper. A discussion is also included that examines the effectiveness of MMPC and provides insights for future works.

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  1. Faculty of Mechanical Engineering, K. N. Toosi University of Technology, No. 17, Pardis Street, Mollasadra Ave., Vanak Square, P.O Box: 19395-1999, Tehran, 19991-43344, Iran

    M. R. Homaeinezhad & A. Shahhosseini

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Homaeinezhad, M.R., Shahhosseini, A. Parameter-disturbance-robust model predictive control of input-saturated MIMO fractional systems. Int. J. Dynam. Control 9, 1117–1131 (2021). https://doi.org/10.1007/s40435-020-00714-y

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