Abstract:
In this thesis model predictive control strategy has been adopted to solve the problem of backlash
nonlinearity present in two mass system connected via shaft having gear in it. Model predictive
control uses the mathematical model of the system for its working. Here we have taken the state
space model of the system for our problem formulation. Then different state estimators have
been developed for control system design. Linear Quadratic Regulator also has been developed
for our comparison purpose. Six closed loop systems have been developed for speed and position
control of the output shaft of two mass system with backlash nonlinearity.
