In this paper, we deal with the design of a model predictive control (MPC) for precise speed servo control of DC motor systems. The proposed controller is designed in the form of optimal control that calculates and outputs the optimized control input under constraints for each sampling. In particular, MPC designs the control inputs in advance for each sampling and predicts the outputs using them. Thus, it shows excellent control performance even in the case of disturbance or model uncertainty. The effectiveness of the proposed controller was demonstrated through computer simulations using MATLAB/Simulink and DC motor experimental system using real time controller. Moreover, the effectiveness of the proposed controller was confirmed by comparing its control performance with PID controller, which was tested under the same experimental condition as the MPC.

서 론
재료 및 방법
    DC 모터의 확대계 이산 상태공간모델
    속도 제어 MPC 설계
    DC 모터의 전류 추정을 위한 칼만 필터 설계
    DC 모터의 속도 제어 실험 장치 및 조건
결과 및 고찰
결 론
사 사
References

• 정태영(국립부경대학교 실습선 교수) | Tae-Young JEONG (Professor, Training Ship, Pukyong National University, Busan 48513, Korea) Corresponding author
• 정현석(국립부경대학교 대학원 냉동공조공학과 대학원생) | Hyeon-Seok JEONG (Student, Graduate School of Refrigeration and Air-conditioning Engineering, Pukyong National University, Busan 48513, Korea)