Adaptive Predictive Controller for a Servo Drive - Actuator/Sensor Failure Study Experiments

The paper considers the problem of predictive control with actuator or sensor failures. The problem is to show in what configuration (i.e. for what prediction horizons) the adaptive generalized predictive control can tolerate these failures, assuring similar performance in comparison with the case without failures. The results are shown on the basis of experiments conducted on the laboratory stand with a servo drive coupled with a mechanical backlash module to mimic actuator/sensor failures, and with a magnetic brake, to show the performance in the case of occurrence of an unexpected load.