A Gentle Introduction to Model Predictive Control (MPC) Formulations based on Discrete Linear State Space Models
نویسنده
چکیده
3 Quadratic Optimal Control 5 3.1 Linear Quadratic Optimal State Regulator Design . . . . . . . . . . . . . . . . . 6 3.2 Linear Quadratic Optimal Output Regulator Design . . . . . . . . . . . . . . . . 9 3.3 Stability of LQ controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10 3.4 Linear Quadratic Gaussian (LQG) Control . . . . . . . . . . . . . . . . . . . . . 11 3.4.1 State Estimation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11 3.4.2 Separation Principle and Nominal Closed Loop Stability . . . . . . . . . 13 3.5 Tracking and Regulation using Quadratic Optimal Controller . . . . . . . . . . . 14 3.5.1 Model Transformation for Output Regulation and Tracking . . . . . . . . 15 3.5.2 Dealing with Unmeasured Disturbances and Model Plant Mismatch . . . 17
منابع مشابه
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 ...
متن کاملOn State Space Model Based Predictive Control
An input and output model is used for the development of a model based predictive control framework for linear model structures. Diierent MPC algorithms which are based on linear state space models or linear polynomial models t into this framework. A new identiication horizon is introduced in order to represent the past.
متن کاملAdaptive Tuning of Model Predictive Control Parameters based on Analytical Results
In dealing with model predictive controllers (MPC), controller tuning is a key design step. Various tuning methods are proposed in the literature which can be categorized as heuristic, numerical and analytical methods. Among the available tuning methods, analytical approaches are more interesting and useful. This paper is based on a proposed analytical MPC tuning approach for plants can be appr...
متن کاملModel Predictive Control of Hybrid Systems with Applications to Supply Chain Management
Hybrid systems are dynamical systems whose behavior is determined by the interaction of continuous and discrete dynamics. Such systems arise in many real contexts, including automotive systems, chemical processes, communication networks, and supply chain management. A supply chain, whose goal is to transform ideas and raw materials into delivered products and services, is an example of a hetero...
متن کاملPower injection of renewable energy sources using modified model predictive control
This paper presents a simple model predictive control (MPC) approach to control the power injection system (PIS) for renewable energy applications. A DC voltage source and a single-phase inverter that is connected to the grid by an LCL filter form the PIS. Grid voltage is considered a disturbance for the system. For eliminating this disturbance, a modified model is proposed. It is usual to ...
متن کامل