Multivariable predictive control for vibrating structures: An application

This paper proposes the use of Model Predictive Control (MPC) to control a fast mechanical system. In
particular an MPC strategy is applied to a laboratory flexible arm to perform a fast positioning of the
end-effector with limited oscillations during the maneuver. The on-line implementation of a fast MPC is
obtained with an ad hoc platform based on Cþþ and MATLAB while the MPC tuning is based on a nonlinear
model identified and validated with experimental data. The effectiveness of the proposed method
is highlighted with some suitable experiments performed on the plant. In particular the comparison
with a Linear Quadratic Regulator stresses the advantage of the MPC capability to explicitly handle
input and state constraints.This feature guarantees smaller displacements that imply a structure stress
reduction.