Model Predictive Control with a Relaxed Cost Function for Constrained Linear Systems

Table 1

Tape transport system parameters.

Symbol	Parameter	Value
	Tape stiffness	2 × 10^3 N/m
	Damping	2 N s/m^2
	Radius of supply reel	21.2 × 10^−3 m
	Radius of take-up reel	9.75 × 10^−3 m
	Moment of inertia of the supply reel	14.2 × 10^−6 Kg m^2
	Moment of inertia of the take-up reel	10.35 × 10^−6 Kg m^2
	Motor torque constant	24.8 × 10^−3 N m/V
	Viscous friction coefficient	1.03 × 10^−4 N m s/rad