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In this paper, a model predictive controller for the position control of an electrical drive with an elastic connection is presented. The control methodology enables the drive's safety and physical limitations to be directly incorporated into control synthesis. The effect of the predictive horizon on the drive performance is examined. Also, the influence of parameter changes is tested in this paper. The simulation study is supported by experimental results.
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Serkies et al. (2012) studied this question.
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