Servo Control of Pneumatic Systems Considering Input and Output Constraints

Abstract

Pneumatic systems intrinsically have hard limits on the control input and output. To cope with these constraints, a scheduled model predictive control method is modified and applied to a pneumatic system. Unlike standard model predictive control methods, this method can deal with systems that have relatively fast dynamics because the online computational complexity is reduced by computing a sequence of feedback gains in advance. In this control scheme, effective offline and online algorithms for choosing control parameters are presented. Experimental results show the effectiveness of the proposed control method.