Gain scheduled continuous-time model predictive controller with experimental validation on AC machine

Abstract

Linear controllers with gain scheduling have been successfully used in the control of nonlinear systems for the past several decades. This paper proposes the design of gain scheduled continuous-time model predictive controller with constraints. Using induction machine as an illustrative example, the paper will show the four steps involved in the design of a gain scheduled predictive controller: (i) linearisation of a nonlinear plant according to operating conditions; (ii) the design of linear predictive controllers for the family of linear models; (iii) gain scheduled predictive control law that will optimise a multiple model objective function with constraints, which will also ensure smooth transitions (i.e. bumpless transfer) between the predictive controllers; (iv) experimental validation of the gain scheduled predictive control system with constraints.