Position Control of a Pneumatic Valve Using Nonlinear Model Predictive Control Based on Kalman Filter


Nguyen Van Chi†, Hoang Duc Quynh‡, and Nguyen Hong Quang†,*


† Thai Nguyen University of Technology, No. 666, 3/2 Street, Thai Nguyen, Viet Nam

‡ Electrical Faculty, Thai Nguyen College of Industry, Thai Nguyen, Viet Nam

Corresponding Author Email: [email protected]

This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

The paper proposes the control algorithm for position control for a pneumatic valve using the predictive control based on Kalman filter. The difference between the actual valve opening and desired valve opening is caused by the stiction dynamic of the valve. To model the valve with stiction in the piecewise linearizing form, the higher order transfer function is used. The Kalman filter then is used for determining the states of the valve, thereby the predictive controller with predictive window is slided respect to the time axis. The optimal control signal for controlling the valve position is also determined directly in each sampling cycle. The experiment results indicate that the proposed control algorithm works well, and the delay phenomenon caused by the stiction is reduced.