Abstract: In order to deal with the problem that the state space model cannot be obtained accurately from the industrial processes, a state space model predictive control method based on subspace identification is proposed. The state space model, obtained through the subspace identification algorithm, is regarded as the system model. Then, the constrained predictive control algorithm is given. By taking a CD player arm system as an example, the goal is to achieve the system output tracking control. The simulation results show that the control effect of this method is satisfactory.

Key words: subspace identification, state space model predictive control, CD player arm

摘要： 针对无法从工业过程中获得准确状态空间模型的问题，提出一种基于子空间辨识的状态空间模型预测控制方法。利用子空间辨识方法得到的状态空间模型作为系统模型，给出约束条件下的预测控制算法。以CD播放器机械臂系统为例，通过状态空间模型预测控制方法实现对系统输出的跟踪控制，仿真结果表明，该方法控制效果良好。

关键词: 子空间辨识, 状态空间模型预测控制, CD播放器机械臂