Adaptive Horizon Model Predictive Control with Equivalent-Input-Disturbance for Vibration Suppression

This paper presents a vibration suppression method for two-inertia mechanical transmission systems, combining adaptive horizon model predictive control (AHMPC) with the equivalent-input-disturbance (EID) approach. First, conventional model predictive control (MPC) is extended to an adaptive horizon formulation to reduce computational cost while effectively attenuating vibrations. Second, a quadratic-programming-based method is designed to efficiently solve the AHMPC optimization problem. Third, the EID approach is integrated to compensate for external disturbances. Finally, simulation studies on a two-inertia system demonstrate the effectiveness of the proposed method in achieving significant vibration suppression.