GENERALIZED PREDICTIVE CONTROL (GPC) BASED POSITION CONTROL METHOD FOR AN AXLE

A position value, a desired position value and future desired position values as well as, for each future desired position value, a value which is characteristic of the temporal offset between said future desired position value and the respective immediately preceding desired position value are predefined for a position controller for an axle. The position controller uses a model of the axle to determine a manipulated variable and a respective expected manipulated variable and an expected position value for the future desired position values. The position controller determines the manipulated variable, the expected variables and the expected position values in such a manner that a total deviation of the position value and the expected position values from the corresponding desired position values is optimized in accordance with a predetermined assessment function. It drives the axle in accordance with the manipulated variable.