This paper is organized as follows. Section 2 details the
PH model of the SPMSM and its physical constraints. Section
3 introduces the notion of differential flatness which is used
for speed profile generation while minimizing the dissipative
energy. Then, section 4 formulates the constrained predictive
control problem for controlling the elevator system. Section 5
presents simulation and comparison results. Finally, section 6
draws the conclusions and presents the future work.