Model predictive control of nonlinear systems: Computational burden and stability

Stability and Continuity of Nonlinear Model Predictive Control Stability and Continuity of Nonlinear Model Predictive Control Stability and Continuity of Nonlinear Model Predictive Control

Acknowledgments I would like to express my appreciation to my advisor, Dr. James B. Rawl-ings. His diicult questions have pushed this work forward when it stalled and his insight has allowed me to progress when it seemed impossible. His vision of computing in this profession has provided his research group with the best computer facilities at the University. The work reported in this dis-sertat...

Robust Model Predictive Control for a Class of Discrete Nonlinear systems

This paper presents a robust model predictive control scheme for a class of discrete-time nonlinear systems subject to state and input constraints. Each subsystem is composed of a nominal LTI part and an additive uncertain non-linear time-varying function which satisfies a quadratic constraint. Using the dual-mode MPC stability theory, a sufficient condition is constructed for synthesizing the ...

Improved Optimization Process for Nonlinear Model Predictive Control of PMSM

Model-based predictive control (MPC) is one of the most efficient techniques that is widely used in industrial applications. In such controllers, increasing the prediction horizon results in better selection of the optimal control signal sequence. On the other hand, increasing the prediction horizon increase the computational time of the optimization process which make it impossible to be imple...

Computational Aspects of Approximate Explicit Nonlinear Model Predictive Control

It has recently been shown that the feedback solution to linear and quadratic constrained Model Predictive Control (MPC) problems has an explicit representation as a piecewise linear (PWL) state feedback. For nonlinear MPC the prospects of explicit solutions are even higher than for linear MPC, since the bene…ts of computational e¢ ciency and veri…ability are even more important. Preliminary st...

Overview of Nonlinear Model Predictive Control Schemes Leading to Stability