A DSP-based servo system using generalized predictive control

In this paper, a state space generalized predictive control (GPC) algorithm is developed for a brushless DC servo drive. Both the single rate and multirate input control algorithms have been realized with a DSP to control the position of an experimental motor. The performance and the robustness of the drive have been evaluated. The results show that the drive tracks the reference despite load changes and step changes in the position setpoint. In addition, the multirate input control scheme shows a faster dynamic response and is less sensitive to load disturbance. However, it is less robust against changes in the inertia