<![CDATA[This paper presents a constrained finite-control-set model predictive control (FCS-MPC) scheme for an H-bridge converter-fed direct current (DC) motor drive, aimed at fast dynamic response and low steady-state armature-current ripple. By selecting the converter switching state directly at each sampling instant, the method removes the separate pulse-width modulation (PWM) stage used in conventional cascaded proportional-integral (PI) control and embeds the armature-current limit directly in the cost function. When the predicted armature current exceeds the predefined limit, a penalty term drives the optimizer to choose the sw itching state that returns the current within safe bounds while preserving speed tracking. The controller is evaluated in simulation under fixed-speed reference tracking, variable-speed reference tracking, and a step load-torque disturbance. The results show fast settling, low steady-state speed error, and bounded current during transients; under the idealized simulation conditions the steady-state armature-current total harmonic distortion (THD) is 0.21 %, indicating low current ripple for the studied operating points. The present study is limited to simulation; experimental validation and a quantitative comparison against conventional PI-PWM control are identified as future work.]]>
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