**6. Conclusion**

86 Frontiers of Model Predictive Control

Co-design N-Co-design

> Co-design N-Co-design

0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1.0

0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1.0

time (s)

time (s)

0

0

Fig. 12. The system response of Loop 2

100

200

300

rev ( rad / s )

400

500

600

700

Fig. 11. The system response of Loop 1

100

200

300

rev ( rad / s )

400

500

600

700

First introducing the theory and parameters of GPC , then the EDF scheduling algorithm and parameter are presented. The co-design of control and scheduling is proposed after analyzing the relationship between predictive control parameters and scheduling parameters for a three-loop DC servo motor control system. By analyzing the effect on system performance by the control parameters and the scheduling parameters, a joint optimization method is designed considering the balance between control performance and scheduling performance. Finally this algorithm is validated by Truetime simulation, in the cases of big delay and bad environment, especially the presence of external interference, the co-design system shows the better performance, such as good robustness and anti-jamming capability.
