Minimum effort control of a servo system

A novel approach for the minimum effort control of a servo system is proposed. It is based on the prediction of the outputs of the plant over the next N sampling intervals. The scheme adopted for the prediction purposes is simple and has a physical meaning. The loss function, minimized, is composed of the squares of the control efforts and a constant function which equates N-step ahead predicted output to the desired value. Simulation and experimental results are presented for a linear cart system. The simulation and experimental studies show that the performance of the proposed algorithm for minimum effort control is better than that of a conventional approach