Combined PI and GPC for servo system

In this paper, GPC_PI control structure has been proposed. After continuously identification the approximate model of the controlled object of servo system, the identification results were used to predict the performance of servo system, and on-line tuning of the speed loop control parameters was conducted according to the prediction results. Situations such as changes of inertia and disturbance of load torque etc. used as research objects, the self-tuning structure for the proposed parameters of the speed servo system has been analyzed. The results show that the proposed GPC_PI control structure can tune the control parameters correspondingly and it has good robustness.