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Model Based Predictive Control is a class of computer algorithms that explicitly use a process model to predict future plant outputs and compute an appropriate control action through on-line optimization of a cost objective over a future horizon, subject to various constraints. The cost function is defined in terms of the tracking error (the difference between the predicted output and set-point)....
In the paper, different approaches concerning the control of PKM (Parallel Kinematic Machines) are presented. The paper is focused on a Model Based Predictive Control (MBPC) type algorithm which uses on-line simulation and rule-based control. The efficiency and applicability of the proposed algorithm for a SISO motion system are demonstrated through applications.
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