Abstract
In this paper a modified state-space predictive controller is introduced, and a predictive estimator presented to complement the design of a predictive control law. This approach has been used for the design of tracking controllers for the NASA/JPL 70-m antennas. Several tracking scenarios have been tested (step input, constant rate rise and fall, raised cosine trajectory), and significant improvement of performance has been observed. A wider bandwidth and improved roll-off rate is obtained for the predictive closed-loop system in comparison with the LQ system. The predictive control system is robust to the plant parameter variations. Shifts of plant poles of 20% of their nominal values has a tracking error of the same order as for a nominal plant. Its disturbance suppression properties have also been simulated and found good for input disturbances and for the measurement noise, if the measurement noise spectrum is higher than the plant fundamental frequency. The system disturbance suppression properties can be enhanced if a disturbance filter is applied. For the predictive estimator, the estimation error and time to reach stationary error are much smaller than for the LQ estimator.
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© 1992 Springer-Verlag
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Gawronski, W. (1992). Predictive controller and estimator for nasa deep space network antennas. In: Skowronski, J.M., Flashner, H., Guttalu, R.S. (eds) Mechanics and Control. Lecture Notes in Control and Information Sciences, vol 170. Springer, Berlin, Heidelberg. https://doi.org/10.1007/BFb0004307
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DOI: https://doi.org/10.1007/BFb0004307
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