Abstract
The paper describes an aspect of advanced control techniques applied in cascade control structure. The cascade control structure has been developed by considering UPC (Unified Predictive Control) pole-placement controllers, calculated taking into account the dynamical separation of the control loops through an adequate choice of the objective functions. Aspects of designing, problems encountered and performance of the control system are dealt with and illustrated by simulation results. The main achievement is a design algorithm for polynomial predictive cascade structures used in motion control, under the assumption that the control loops are dynamically separated. The design method was tested on a predictive cascade structure for a servo application.
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