This paper presents the mathematical modeling and the design of an optimal pressure tracking controller for an often used setup in pneumatic applications. Two pneumatic chambers are connected with a pneumatic tube. The pressure in the second chamber is to be controlled using two switching valves connected to the first chamber and based on the pressure measurement in the first chamber. The optimal control problem is formulated and solved using the MPC framework. The designed controller shows good tracking quality, while fulfilling hard constraints, like maintaining the pressure below a given upper bound.

This paper presents the mathematical modeling and the design of an optimal pressure tracking controller for an often used setup in pneumatic applications. Two pneumatic chambers are connected with a pneumatic tube. The pressure in the second chamber is to be controlled using two switching valves connected to the first chamber and based on the pressure measurement in the first chamber. The optimal control problem is formulated and solved using the MPC framework. The designed controller shows good tracking quality, while fulfilling hard constraints, like maintaining the pressure below a given upper bound.