hardware-in the-loop lab

In this paper, a new constraint predictive PID controller is proposed and simulated for a flight vehicle with too many operating points. In this approach, the PID and the incremental predictive control methods are combined in order to use the benefits and resolve the disadvantages of the both methods. The constrained optimal signal of the new method is calculated by a simple algorithm without need to generate large matrices. Simplicity of the presented controller with small dimensions is the reason for the implementation capability of the method for flight vehicle control system with many operating points. Since the generalized incremental predictive control has high robustness in the presence of the unmodeled uncertainties, the presented predictive based controller covers many operating points. The designed method is implemented for three channels of a flight vehicle and then, successfully tested in the hardware in the loop lab. Simulation results show high robust performance and real time implementation capability.