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JOURNAL OF COMPUTERS, VOL. 8, NO. 6, JUNE 2013 1569
1
-3.12
0.05
0.8
-3.125
0.04
0.6
0.4
-3.13
0.03
0.02
0.2
-3.135
0.01
u
0
angle
-3.14
pos
0
-0.2
-3.145
-0.01
-0.4
-0.6
-3.15
-0.02
-0.03
-0.8
-3.155
-0.04
-1
0 200 400 600 800
T
-3.16
0 200 400 600 800
T
-0.05
0 200 400 600 800
T
Figure 13. Real-time operating curves of MPC controller-tuning system
Figure 14. Steady state variance comparison bar charts
the system easy to extend and analysis, this will provide a
new way for later controller performance evaluation and
tuning research.
ACKNOWLEDGMENT
This work is supported by National Science
Foundation of China under Grant 60974065.
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