Nonlinear Receding Horizon Control of Quadruple-tank System and Real-time Implementation
نویسندگان
چکیده
In this paper, nonlinear receding horizon control (NMPC) is implemented on a laboratory quadruple-tank system, which is a nonlinear multi-variable process with state constraints as well as input constraints. A fast numerical algorithm called C/GMRES is employed to implement nonlinear receding horizon control of quadruple-tank system, in which the continuation method is combined with a fast algorithm for linear equations instead of the Riccati differential equation. Analysis and simulation results show that the computation time is significantly reduced and nonlinear receding horizon control can be implemented successfully in real time.
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