Repetitive Model Predictive Control of a Precision Linear Motor Drive

In this paper, a repetitive model predictive controller (RMPC) is proposed for tracking control of a linear motor. The proposed algorithm reduces the tracking error caused by the periodic disturbance by including the estimation of the future disturbances in the prediction model. The repetitive tracking error is treated as the consequence of periodic input disturbance, which is learnt over several trials and is used to improve the tracking accuracy. As compared with the conventional MPC and repetitive control, this algorithm attempts to derive the merits of the two schemes. Some experimental results are presented to demonstrate the effectiveness of the proposed approach.