Model Predictive Control of Two Mass Resonant
Mechanical System Optimized by Neural Network
Slobodan Vukojičić, Leposava Ristić, Goran Kvaščev
University of Belgrade School of Electrical Engineering
Belgrade, Serbia
vs205040p@student.etf.bg.ac.rs, leposava.ristic@etf.bg.ac.rs, kvascev@etf.bg.ac.rs
Abstract—More complex systems are introduced in industry
nowadays. Expected speed response has more difficulties to be
achieved especially during transients. The final product
deteriorates quality using traditional speed controllers
2022 7th International Conference on Environment Friendly Energies and Applications (EFEA) | 979-8-3503-3321-3/22/$31.00 ©2022 IEEE | DOI: 10.1109/EFEA56675.2022.10063833
incapable of controlling complex systems. Therefore, speed
control has to be improved by applying advanced control
algorithm. Accordingly, the paper presents implementation of
Model Predictive Control algorithm, estimation of difficult-to-
measure or unmeasurable quantities, and prediction of system
parameters in complex operating and environmental conditions
using Neural Network. Model Predictive Control algorithm is
recognized as solution for control of complex systems due to
possibility of predicting system behavior and keeping speed
response error at minimum required value. Neural Network
adapts static, unmeasurable system parameters when working
conditions change. To reduce computational complexity,
control algorithm and Neural Network can be implemented on
separate processor units. Mathematical model is developed in
Matlab Simulink. Validation of Neural Network parameter
estimation is performed with random data set which are not in
Neural Network training data set.
Keywords— two mass system, resonant mechanical system,
elastic coupling, Model Predictive Control, Luenberger observer,
PI controller, industrial drives, Neural Network
I. INTRODUCTION
Electrical drives are mainly responsible for driving parts
of complex machinery in modern industry. Speed response
should be fully controlled during transients with low time
delay. The bandwidth of speed controller, which is required
from the technology process, exceeds 100-200 Hz [1]. Two
mass mechanical resonant system represents motor and load
inertias connected through elastic shaft. Owing to the
elasticity of the shaft, system cannot be considered stiff and
therefore has to be presented with doubled number of state
variables. The resonant mechanical system is critical for
performance enhancement since speed control bandwidth
exceeds natural frequency of mechanical resonance. Motor
torque excites the resonant frequency of mechanical system
because torsional characteristics are often not included during
the process of regulator synthesis. Excitation of mechanical
resonance causes vibrations and transmission defects which
should be avoided through control algorithm.
Mechanical resonant system transfer function poses finite
number of zeros and pair of complex conjugate poles within
the range of controller action [1]. Extensive research efforts
are invested in suppression of the torsional vibration
problem. If high-performance closed-loop control is required,
the additional feedback from selected state variables is
necessary. Inclusion of additional feedback guarantees
effective damping of torsional oscillations [4]. Model
Predictive Control algorithm is recognized as ideal solution
for vibration suppression caused by resonant system. If
oscillations are not suppressed correctly, they might damage
joints and rotating parts of the machine or integrity of
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mechanical structure and deteriorate product quality. Besides,
they leave the footprint of machine tools on working piece.
Implementation of control structure requires clearly
defined parameters of mechanical system. There should be
no difference between implemented and real parameters
because of quality estimation and control process. Existence
of parameter mismatch produces great tracking error and
deteriorates final product quality. Besides that, it can produce
collision of mechanical parts and put human lives in danger.
Accordingly, Neural Network supporting control algorithm is
presented in the paper. Its purpose is to successfully identify
unmeasurable system parameters which are varying due to
varying operation conditions. It is performed after injecting
control impulse in open-loop control structure and samples
the system response. Standard Model Predictive Control
(MPC) is improved by adding Neural Network (NN) that
works independently from control algorithm, reflecting
system parameter change to the MPC parameters adjustment.
The proposed control algorithm and independent NN solution
is evaluated through simulation demonstrating improved
performance compared to classical widely spread solutions.
Note that many other types of controllers are developed and
presented in literature, especially for resonant system. Still,
authors of the paper have recognized that upgrading standard
method of MPC with new technology of Artificial
Intelligence can provide more reliable and adaptive solution
for big range of applications.
II. MATHEMATICAL MODEL AND MODEL PREDICTIVE
CONTROL STRUCTURE
A. Mathematical Model of Two Mass System
Two independent rotating masses (inertias) connected
with elastic shaft represent two mass resonant mechanical
system. The motor inertia is represented with Jm and load inertia
is represented with Jl in Fig. 1. Motor torque Mem presents an
excitation for resonant mechanical system. It acts directly on
motor shaft producing torsional torque occurrence. Torsional
torque M0 affects motor side like load torque and load side like
driving torque. It is equal to load torque Ml only in the steady
state. The torsional torque is defined by equation (1)
M 0 = K s ∆θ + K v ∆ω , (1)
where Ks represents stiffness coefficient, Kv represents viscous
friction coefficient, ∆θ represents difference of motor position
θm and load position θl and ∆ω represents difference of motor
speed ωm and load speed ωl. In most cases, system friction
takes low values leading to weakly dumped mechanical
oscillations.
Mechanical parameters of the system are changing
according to external impact. Temperature, oil lubrication
degradation, and change of load inertia are just a few of
numerous impacts producing mechanical parameters
variation. Simplified block diagram of two mass system with
 load inertia and stiffness change is shown in Fig. 1. manipulated variable) that minimizes error between setpoint
and predicted value. The cost function Q is established to
represent quality of the control algorithm as
T
 1   1 
      T
Q =  M  r (ki ) − Y   M  r (ki ) − Y  + ∆U R ∆U , (5)
 1   
    1 
Fig. 1. Simplified block diagram of two mass system with parameter
change where R represents diagonal matrix used to tune parameters
for desired closed loop system performance. If R is equal to
Fig. 2 represents schematic block diagram of two mass zero, change of control vector is neglected compared to
resonant mechanical system [2]. setpoint tracking.
Finding optimal set of control vectors can be done after
determining first derivative of cost function and make it
equal to zero. Optimal solution for the set of control signals
is given with (6).

 1 
T   −1 T 
Fig. 2. Schematic block diagram of two mass system ∆U = (Φ Φ + R ) Φ  M  r (ki ) − Fx(ki )  (6)
 1 
B. State-space Model of Two Mass System   
Described resonant mechanical model should be The goal of MPC algorithm is to bring and keep output
presented in mathematical form. Differential equations are variable near setpoint value. To expand the control algorithm
combined in matrix form to create one equation of the means including constraints such as physical and safety
system. It is considered as continuous model of two mass limitation of electrical drive and elastic shaft. This paper
system given with (2), [3]-[5], deals with constrained Model Predictive Control algorithm
implemented and tested by Matlab simulations on
 ωm   ωm  mathematical model.
∂  ω +B M ,
ωl = Acont (2) C. Luenberger State Observer
∂t    l  cont em

 M 0   M 0  Shaft sensor gives feedback of motor speed because it is

where
−K v / J m Kv / J m −1/ J m 
Acont =  K v / J l − Kv / Jl 1/ J l  ; Bcont =  0  (3)

 K s −Ks 0 
Basic ideas and terms about MPC represent designing
trajectory of manipulated variable to optimize future
behaviour of output variable [6]. Control algorithm is
developed based on mathematical model of the plant, which
is selected to be state-space model. Discretization of the
continuous model establishes state-space model described
with (4), [6],
xm ( k + 1) = Am xm ( k ) + Bm u ( k )
y ( k ) = Cm xm ( k )
where u is manipulated variable, i.e. control variable (Mem),
while y is process output (ωl). Am, Bm and Cm represent
system matrices determined from Acont and Bcont. In
establishing state-space model, next step is to design MPC
algorithm. Prediction of process output is made in predefined
optimization window of length Np. Result of algorithm
computation is more realistic if length of optimization
window is higher.
For the given setpoint signal r(ki), within a length of
optimization window, the objective of the predictive control
system is to bring the set of predicted outputs Y as close as
possible to the setpoint. Assumption is adopted that setpoint
remains the same in prediction horizon period. Calculation
should project optimal set control vectors ∆U (change of
mounted on motor side of two mass system. Shaft sensor is
mounted on motor side because of much more space, easier
maintaining and lower risk of damage. Besides that, load
1 / J m  speed and torsional torque, which are inputs to controller too,
are not measurable and should be estimated. Estimation is
 0  done by Luenberger state observer which inputs are motor
speed and motor reference torque, while the outputs are
variables required from the controller.
The Luenberger state observer is described with (7), [7]:
 ko1 
xˆ(k + 1) = Am xˆ(k ) + B m M em + ko2  * (ωm − C 'm xˆ (k ) )
(7)
 ko3 
yˆ = xˆ
(4)
Coefficients ko1 , ko 2 and ko 3 are balancing the error
between measured and estimated value. Pole placement
technique represents strategy for coefficient determination.
Quality of motor speed, load speed and torsional torque
estimation depends on how correctly parameters are
determined and how correct coefficients are set. The observer
eigenvalues are solutions of characteristic equation (8).
  ko1  
   ' 
det  Am +  ko 2  * C m − λ * I  = 0 (8)
  ko 3  
 
Higher eigenvalues mean that the estimated state
variables will more rapidly reach the real state variables’
values. Accordingly, a good rule is to choose equal

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 eigenvalues with the magnitude greater than the eigenvalues
magnitude of the controlled system.
Simplified block diagram of MPC control algorithm,
Luenberger observer, and two mass resonant mechanical
system is given in Fig. 3.
Fig. 3. Simplified block diagram of MPC control algorithm, Luenberger
observer, and two mass resonant mechanical system
III. NEURAL NETWORK
A. Multi-layer Neural Network
Architecture of multi-layer Neural Network consists of
highly interconnected elements, called neurons, in two or
more layers, [8]. In basics, processing unit represents
functionality of two mathematical operations: linear
combination of inputs and addition of mathematical function
to linear combination. Input could be from external
environment or from other neurons. First layer has external
input but all other layers in multi-layer NN have inputs from
other neurons. This type of NN is called multi-layer
feedforward network. Architecture of multi-layer NN is
shown in Fig. 4.
f ( x ) represents activation function, [8].
Initially set weight factor does not satisfy output of NN.
Training procedure, to obtain the right weight factor, is
required. Weight factor changes its value by the gradient rule
called back-propagation learning method, [8]. This algorithm
adjusts weight factor according to gradient search technique
to minimize error between set and actual output of the
network. The smaller difference between set and actual
output provides smaller gradient and better performance of
network. Performance of NN is given by equation (10),
1
 (tk − outk )
2
P= (10)
2 k
where tk , outk represent set point and actual value of output
layer respectively.
B. Estimating System Parameters Using Neural Netwok
Mechanical two mass system contains four crucial
parameters, motor and load inertia, stiffness coefficient and
viscous friction coefficient, as described in Chapter II. In
commissioning phase of the machine, motor inertia can be
measured precisely, or it can be defined by manufacturer.
Other parameters are not possible to precisely measure, and
these parameters have variable nature. NN is used for precise
estimation of load inertia, stiffness coefficient and viscous
friction coefficient. Available measurement of variable that
contains information about the parameters is motor speed
measurement. Speed measurement is sampled every cycle of
Control System and used to calculate the increment of speed,
[9]. Increment of speed is saved in previous 1000 samples
[10] of time and all that samples represent input external
variables of NN. Configured network is made of input layer,
2 hidden layers with different number of neurons and output
layer. First hidden layer contains 10 neurons, and second
hidden layer contains 20 neurons. Output layer contains 3
neurons, for each of system parameters one neuron.
Activation function of hidden layer is sigmoid function,
described in (9). Activation function in output layer in linear
function. Configuration of NN for system parameters
estimation is given in Fig. 5.

Fig. 4. Architecture of multi-layer Neural Network

Linear combination of inputs implies weight factor for

each input. Mathematically presented dependency of Fig. 5. Configuration of Neural Network for system parameters estimation
interconnected layers is:
Initially set weight factor does not estimate valid values
net =  w out
m m m −1 of system parameters. NN should be well trained before valid
k kj j
j
estimation. Set of training data need to be created at the
beginning of process. Steps for creating training data set are
out mj −1 = f ( net mj −1 ) (9)
given by Algorithm 1.
α
− x
1− e k Algorithm 1.
f ( x) = k α
− x 1) Change load inertia from 50% to 150% of rated
1+ e k
value in equal steps in FOR loop
where
2) Change stiffness coefficient from 50% to 150%
net km is linear combination of inputs at m th layer, of rated value in equal steps in inner FOR loop

out mj−1 is output of a layer, 3) Change viscous friction coefficient from 50% to
th th
150% of rated value in equal steps in second
wkjm is weight factor between neurons of (m − 1) and m inner FOR loop
layer,

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 4) Collect motor speed increments in array at 1000 limiting maximum torsion torque and maximum motor
sample times torque. More safety constraints can be implemented, what is
planned for future work.
5) Collect simulated values of load inertia, stiffness
coefficient and viscous friction coefficient
6) Fulfil the input matrix with arrays from step 4)
and fulfil the target matrix with arrays from step
5) for all scenarios
After crating input and target matrix, training of NN
should be performed. Depends on how many scenarios are
defined in input matrix, training process will try to find the
best value of weight factor. Training will stop if performance
of network goes under prespecified value or if gradient of
weight factor goes under prespecified value.
IV. SIMULATION RESULTS
The aim of the work presented in the paper, is to
demonstrate influence of parameter change on speed control
using MPC and use of NN for estimate parameter change. It
will be shown how parameters are estimated and
implemented in control algorithm and how system acts on
control parameters change. To illustrate the proposed system
performance model is composed using Simulink toolbox of
Matlab.
Fig. 6. Motor speed, load speed, motor torque and torsional torque
A. Simulink Simulation of Model Predictive Control response in the case when mechanical parameters implement in control
Mathematical model of two mass resonant mechanical algorithm structure have their actual values
system, MPC algorithm and Lunberger observer for
Passive load in two mass resonant mechanical system
estimation variables requested from controller is described in
represents driven object in complex manufacturing process.
Chapter II. Motor inertia represents first mass, and motor
Parameters of system are changing in time according to the
should provide torque to drive the system. Passive load
external conditions. Parameters included in control structure
represents second mass driven by the torsional torque in
and real mechanical parameters must be the same to have
elastic coupling. Model of mechanical system is designed in
good load speed tracking and good Luenberger observer
such a way to enable changes of parameters before the
value estimation. If load inertia, stiffness coefficient and
simulation starts. It should represent changes of load inertia,
viscous friction coefficient increase their values by 20%,
stiffness coefficient and viscous friction coefficient due to
MPC algorithm will not be efficient as previous. Time
mechanical changes of the equipment, temperature change,
diagrams, presented in Fig. 7, shows actual motor speed,
degradation of lubrication, etc. MPC control block and
actual load speed, motor torque and torsional torque response
Luenberger control block are designed in a way to enable
to speed reference respectively with mechanical parameters
changes of implemented mechanical parameters at any point
deviations in experiment described in Fig. 6
of simulation.
Control algorithm requires measurements of motor speed,
load speed and torsional torque as input in control structure.
As earlier described, only motor speed is measured directly
from shaft sensor mounted on motor side of two mass
system. Based on mathematical model, described in Chapter
II, all necessary control structure inputs are estimated using
external disturbance (motor torque) and measurable output of
mechanical system (motor speed). Lunberger observer, in
charged for measurement estimation, should calculate values
10 times faster than control cycle of MPC algorithm. Time
diagrams, represented in Fig. 6, shows actual motor speed,
actual load speed, motor torque and torsional torque response
to speed reference respectively during the simulated
experiment consisting of: no load motor starting, constant
speed operation and sudden load change. No load motor start
to demonstrate accelerating process with constraints. Sudden
load change occurs at 0.25s equal to half of the maximum
motor torque value. Parameters implemented in MPC
correspond to mechanical parameters of the “real two mass
system” modeled in Simulink simulation.
MPC algorithm has included constrains. Regarding safety Fig. 7. Motor and load speed, motor torque and torsional torque with
of mechanical equipment which is implemented trough changed mechanical parameters

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 Correct parameters implemented in control structure
represent crucial part of correct load speed tracking and full
performance of MPC algorithm. Therefore, NN for parameter
estimation is developed and analyzed in the paper.
B. Simulation of System Parameter Estimation Using
Neural Network
Learning procedure requires input data for all learning
scenarios and corresponding target data which represent
output of Neural Network. Weight factor will be changed
according to procedure described in Chapter III. Some part of
input data will not be used for learning procedure, it will
serve for checking of network performance. NN performance
determines the quality of estimation process. If input data for
learning procedure do not have enough values, performance
will not satisfy expected value. The NN, on these occasions,
acts stochastically. Input data should contain enough
information that learning procedure requires.
After the learning procedure, the NN must be examined
for testing signals different from the learning data set. Test
data is provided in vector type with randomly set mechanical
system parameters shown in Table I, together with estimated
parameters using NN.
Estimated parameters show that estimation error is on
fourth decimal point. Converted in percentage, estimation
error is better than 0.012%. Even better results are expected
if training process lasts longer, or training data set contains
more scenarios.
C. Simulation of system parameter implementation in
control algorithm
Estimation of parameters can be done at any point of
control. The best timing for quality estimation is in a steady
state when speed value does not change and external torque
changes will not occur. Simulation starts with parameters
included in the control algorithm that differ from real
mechanical parameters. System response with parameters
mismatch is shown in Fig. 7 and Fig. 8 (blue line).
Simulation will start with the same parameters mismatch and
then at time 0.15s NN parameters estimation will start. NN
estimates exact mechanical parameters. Parameters are
downloaded to control algorithm immediately after the NN
finishes estimation process. Time diagrams, represented in
Fig. 8 (red line), shows actual motor speed, actual load speed,
motor torque and torsional torque response to speed reference
respectively with implementation of exact mechanical
parameters during the experiment described in Fig. 6.

TABLE I. RANDOMLY SET MECHANICAL SYSTEM PARAMETERS AND

ESTIMATED PARAMETERS USING NEURAL NETWORK

Estimated
Scenario Parameter Real Values
Values
J l [ kgm 2 ] 0.0037 0.0036998

Scenario 1 K s [ Nm / rad ] 170 170.02

K v [ Nms / rad ] 0.079 0.07901
2
J l [ kgm ] 0.0043 0.0043001
Scenario 2 K s [ Nm / rad ] 200 199.99 Fig. 8. Motor and load speed, motor torque and torsional torque response
K v [ Nms / rad ] with implementation of exact mechanical parameters
0.083 0.083
2
J l [ kgm ] 0.0052 0.0052001 Mechanical parameters are estimated with high precision
Scenario 3 K s [ Nm / rad ] 290 290 (error is lower than 0.012%) with the help of well-trained
Neural Network. After parameters implementation, simulated
K v [ Nms / rad ] 0.11 0.11 system achieves steady state faster with less torsional torque
J l [ kgm 2 ] 0.0067 0.0067 oscillations.
Scenario 4 K s [ Nm / rad ] 258 257.99 V. CONCLUSION
K v [ Nms / rad ] 0.17 0.17 Simulation deals with Model Predictive Control
J l [ kgm 2 ] 0.0079 0.0079001 algorithm of two mass mechanical resonant system for load
speed tracking. Results, presented in this paper, shows that
Scenario 5 K s [ Nm / rad ] 319 318.99 control algorithm can be effective only in the case when
K v [ Nms / rad ] 0.09 0.09001 mechanical parameters match parameters implemented in the
2
control structure. If not, MPC algorithm deteriorates
J l [ kgm ] 0.0087 0.0087 regulating performance rapidly. Exact match of mechanical
Scenario 6 K s [ Nm / rad ] 367 367.01 parameters and implemented parameters are also required
from Luenberger state observer for quality prediction of
K v [ Nms / rad ] 0.19 0.19
controller inputs. Divergence of mechanical and
2
J l [ kgm ] 0.0099 0.0099002 implemented parameters can produce system instability that
Scenario 7 K s [ Nm / rad ] 400 400.01
can endanger people’s lives and produce mechanical damage.
Neural Network is used for parameters estimation and
K v [ Nms / rad ] 0.186 0.186 support MPC algorithm and Luenberger state observer.
Expected improvement of combining NN with traditional

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 approach of regulation and estimation is achieved and it
represents not expensive solutions for product quality
increase. Thus, the basis for further research in this field is
established in terms of improvements which can be achieved by
introducing different types of NN and developing physical
model with implementation of shown solution.
VI. ACKNOWLEDGEMENT
The paper was created during a research funded by
Ministry of Education, Science and Technological
Development, Republic of Serbia, grant no. 2022/200103.
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