Predictive controllers have been extensively studied and applied to electrical drives, mainly because they provide fast dynamic responses and are suitable for multi-variable control and non-linear systems. Many approaches perform the prediction and optimization process on-line, which requires a high computational capacity for fast dynamics, such as, for example, the control of AC electric motors. Due to the complexity of embedding constraints in controller design, which demands a high computational capacity to solve the optimization problem, off-line approaches are one of the choices to overcome this problem. However, these strategies do not deal with the inherent constraints of the drive system, which significantly simplifies the design of the controller. This paper proposes a non-linear and multi-variable predictive controller to control the speed and rotor flux of an induction motor, where the constraints are treated after the controller design. Besides dealing with the constraints of the electric drive system, our proposal allows increasing the stability of the system when the model does not incorporate disturbances and when parameter incompatibilities occur. Several computer simulations and experimental tests were performed to evaluate the behavior of the proposed controller, showing good performance to track the controlled variables under normal operating conditions, under load disturbances, parametric incompatibility, and at a very low rotor speed.
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