Improvements of scheduled model predictive control and its application to pneumatic systems

Yuji Wakasa, Shota Nakamura, Kanya Tanaka, Takuya Akashi

Research output: Contribution to journalArticle


This paper proposes a scheduled model predictive control method such that input and output constraints are satisfied. In particular, an overshoot constraint as an output constraint is dealt with and an offline technique for finding appropriate feedback gains satisfying the overshoot constraint is presented. Moreover, an online technique for tuning the control input is proposed to improve the output response. The proposed method is applied to a pneumatic servo system, and an experimental result is given to show the effectiveness of the proposed method.

Original languageEnglish
JournalIEEJ Transactions on Electronics, Information and Systems
Issue number4
Publication statusPublished - 1 Jan 2009



  • Input/output constraints
  • Linear matrix inequalities
  • Model predictive control
  • Overshoot
  • Pneumatic systems

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