MPC With a NMSS Model

Many control methods have been applied to the ball and beam system. In this paper, simulation and on-line control results are presented. For MPC controllers designed using a NMSS model, a time delay is introduced into the predictive model to account for aspects of system behavior. A non-minimal state-space model is used to derive a model-predictive controller. The results indicate that high-gain control coupled with model-following and feedforward action provides a linear controller robust against the system´s typical non-linearities and disturbances.