GPC Controller Design for an Intelligent Pneumatic Actuator

Abstract

This paper proposed a Generalized Predictive Controller (GPC) to the Intelligent Pneumatic Actuator (IPA) in order to analyze the control approach and the performance of the actuator. First, an estimation model of the IPA is obtained by using a Reaction Curve Method and the controller is designed based on the model obtained. By using the existing function proposed by the previous researcher, the implementation and tuning process of the GPC become easier. The parameter needed for the function can be obtained from the model and from simple calculation as presented in this paper. The performance of the designed GPC controller is tested to the actuator position control and the results shows good accuracy and fast response. Lastly, Proportional-Integral-Derivative controller (PID) is used to validate the result.