Equivalent Input Disturbance-based Model Predictive Control of Shaking Table System

The accuracy of seismic wave tracking of seismic shaking table has an important impact on the reliability of structural seismic tests. To precise realize waveform tracking of shaking table, an equivalent input disturbance-based model predictive control (MPCEID) method is developed in this paper. The MPCEID method is construct by incorporating disturbance information estimated by EID into optimization framework of MPC. Thus control system consist of two parts, where MPC is mainly used for tracking the reference input and EID part is mainly used for disturbance suppression. The disturbance missed by EID is compensated by the feedback suppression capability of MPC, thus the overall immunity of the system is enhanced. Meanwhile the EID part is used to estimate the disturbance and compensate uncertainty, and thus improve the robustness of MPC algorithm. In this paper, a hydraulically driven shaking table model is established. Then, disturbance and uncertainty is treated as total disturbances, MPCEID is designed to suppress total disturbances. Finally, simulation experiments are carried out under different scenarios. The validity of the proposed method is demonstrated by comparing the control performance of EID, MPC, and MPCEID.