关键词：鲁棒模型；预测；控制器
摘 要：In the paper a robust Model Predictive Control structure for speed regulation of a drive system with an elastic transmission is proposed. A methodology for robust design based on suitable selection of the explicit form of MPC which enables the drive's safety and physical limitations to be directly incorporated into control synthesis is presented. The simulation results show that the controller is very effective in regulating load speed for a wide-range of the changes of the load side inertia. The simulation studies are confirmed through a variety of experimental tests.