Dynamic matrix control with input saturation constrained

  • Rosana C. B. Rego Federal University of Rio Grande do Norte
  • F. Josiran da Silva Federal Rural University of the Semi-Arid
  • Marcus V. S. Costa Federal Rural University of the Semi-Arid
Keywords: Ball-Beam, Dynamic Matrix Control, Anti-Windup


It is proposed, in this paper a dynamic matrix control (DMC) with an anti-windup (AW) based on linear matrix inequalities (LMI). The DMC-AW control is applied in the ballbeam system, in which the main purpose is to control the ball position on a rotating beam. System modeling was performed, which presented two degrees of freedom. For the mechanical system implementation a microcontroller, an ultrasonic sensor, and a servo motor were used. The proposed control was implemented both numerically with the software MATLAB and with the microcontroller  ATmega328Pu. The simulation results validated the eciency of the proposed DMC-AW and showed that the approach improves the response of the system under input saturation.