Passivity-based Nonlinear Model Predictive Control
نویسندگان
چکیده
In this thesis a nonlinear model predictive control (NMPC) scheme is presented that is based on the concept of passivity. The proposed NMPC scheme takes advantage of the relationship between optimal control and passivity and the relationship between optimal control and model predictive control. This novel NMPC scheme, guaranteeing closedloop stability through the incorporation of a passivity-based constraint, is applied on two examples. In particular, the system theoretical properties of the proposed NMPC scheme are studied on these two academic examples, one being the classical Van der Pol oscillator [6]. Its practical applicability is tested on a real quadruple-tank system [13] in the IST laboratory.
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