Generalized predictive control (GPC) based position control method for an axle

A computer readable medium storing a computer program, wherein the computer program is connected to a work device and executed by the work device, and during processing of the controller program the work device executes a position control method, comprising:

• predefining a reference value and a position value for a position controller;
• predefining a reference value change and a temporal offset between respectively immediately successive reference values for the position controller;
• determining future reference values by the position controller, wherein the position controller uses the reference value, the reference value change and the temporal offset;
• determining the corresponding setpoint position values by the position controller, wherein the position controller uses the reference values;
• determining a manipulated variable and for a future setpoint position value an expected manipulated variable and an expected position value respectively by the position controller, wherein the position controller uses a model of the axle, and wherein an overall deviation of the position value and the expected position value from the corresponding setpoint position value is optimized according to a predetermined evaluation function;
• and
• actuating the axle according to the manipulated variable by the position controller.