A model predictive control for synchronous motor drive with integral action

This paper deals with a novel robust current control scheme for Synchronous Motor (SM) drives, based on the Model Predictive Control (MPC) theory augmented with an Integral Action. The increased robustness is achieved through the integrator, nevertheless the same effective MPC quadratic formulation is hold. The integral action, within the prediction step of MPC, improves drastically the local accuracy of the nominal model prediction with further advantages in terms steady-state error for reference tracking problem. Holding all the model predictive control advantages, well known in literature, the effectiveness of the proposed control is verified by mean of simulations and test-bed experiments.