Performance Analysis of MPC in the Control of a Simple Motorized Nonlinear Model of a Robotic Leg

This paper presents a simple design and analysis of a robotic leg using MPC as a single degree of freedom motion controller. Performance of the Model Predictive Controller is compared with a generic adaptive PID controller. The rotational motion of a simple nonlinear model of a robotic leg is operated by a DC motor [1][2]. A desired rotation of the leg from 90 to 0 degree is taken as the controlling scenario for analyzing the performance of the Model Predictive Controller. This paper also presents the use of Matlab software for the purpose of a simple control system design [3][4]. Although a simple model is taken the concern of a desired angular rotation is solved by the use of MPC as the controller [6][7].