Nonlinear Continuous-Time Generalised Predictive Control Through Successive System Linearisations
نویسندگان
چکیده
Non linear predictive control may require signiicant oo-line and on-line computations. This paper gives a nonlinear predictive control algorithm based on successive oo-equilibrium linearisation which requires less computation whilst accounting for nonlinear system behaviour. A nonlinear example (the pendulum and cart system) is used to show that the method provides a practical tradeoo between computational requirements and performance.
منابع مشابه
Continuous - Time GPCThrough Successive System Linearisations ?
In a Model Based Predictive Controller (MBPC) an optimal set of control signals over a deened time period is determined by predicting the future system behaviour and minimising a non-linear cost function. The signiicant amount of computations involved in a non-linear function optimisation often precludes fast control actions. A successive oo-equilibrium system linearisation approach is proposed...
متن کاملNonlinear Generalised Predictive Control and Optimal Dynamical Inversion Control
This paper addresses nonlinear Generalised Predictive Control (GPC) for nonlinear mechanical systems and its relationship with dynamical inversion control. First continuous-time generalised predictive control for non-linear systems is developed and the stability of the closed-loop systems is shown. It is pointed out that dynamical inversion control is a special case of continuous-time nonlinear...
متن کاملMultivariable Continuous-time Generalised Predictive Control: a State-space Approach to Linear and Nonlinear Systems Csc Report: Csc{98001 Mvcgpc: a State-space Approach
The Multivariable Continuous-time Generalised Predictive Controller (CGPC) is recast in a state-space form and shown to include Generalised Minimum Variance (GMV) and an new algorithm, Predictive GMV (PGMV) as special cases. Comparisons are drawn with the exact linearisation methods of nonlinear control and it is noted that, unlike the transfer function approach, the state-space approach extend...
متن کاملMultivariable Continuous - time Generalised Predictive Control : A State - space Approach
The Multivariable Continuous-time Generalised Predictive Controller (CGPC) is recast in a state-space form and shown to include Gen-eralised Minimum Variance (GMV) and an new algorithm, Predictive GMV (PGMV) as special cases. Comparisons are drawn with the exact linearisation methods of nonlinear control and it is noted that the state-space approach extends readily to the nonlinear case. The re...
متن کاملModel Based Predictive Control for Wastewater Applications
The aim of this paper is to demonstrate dissolved oxygen and nitrate control in a wastewater treatment-plant, and an integrated wastewater system, using model predictive control. This control is of importance in maintaining the conditions required for aquatic organisms and so, the entire dynamics must be considered: the urban sewer system, water treatment plant, and river itself. The integrated...
متن کامل