Evaluation of constrained multivariable EPSAC Predictive Control Methodologies

This paper investigates the performance of two Multivariable Model Predictive Control (MPC) strategies: selfish and solidary. These strategies are based on the main ideas developed in the EPSAC (Extended Prediction Self-Adaptive Control) approach to MPC. A two degree of freedom (2DOF) helicopter simulation has been chosen to illustrate these concepts, as it represents a complicated and challenging problem due to strong intercoupling effects, non-linear dynamics and uncertainties in the system model. The performance obtained with a Linear Quadratic Regulator (LQR) is also included as a reference to the performance of the multivariable MPC strategies. In this contribution, the performance of these multivariable MPC strategies is analyzed, providing more insight about the behavior of these controllers.