MPC for Plants subject to saturation and deadzone, backlash or stiction

An MPC strategy is used to control a plant subject to saturation and either deadzone, backlash, or stiction in the input. Previously it has been shown that adding the right inverse of the affecting nonlinearity, in series with the original saturation and nonlinearity, results in a single saturation. This paper takes advantage of this property to implement an MPC subject to the new saturation level. An analysis via simulation studies of the resulting control signals for the different nonlinearities considered is presented.