rameters, the backside penetration was maintained at about 3 mm — Fig. 15D. This experiment showed that the developed closed-loop control system was robust against the disturbance in the welding speed. Conclusion In this investigation, an innovative augmented reality welder training system is envisioned for GTAW of pipe. As the first study of this kind, a machine algorithm, super welder, is proposed to calculate the optimal welding speed. Dynamic experiments were conducted and an ARMA model is proposed. A linear MPC was then derived to determine the optimal welding speed. Automated welding experiments were conducted to verify the controller performance for tracking varying set points and under different welding currents as well as speed disturbance. The proposed super welder algorithm can be directly utilized to perform automated robotic welding in which 3D weld pool surface is controlled by adjusting the welding speed. 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