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 here to enhance fast control action in a state space \Continuous-time Generalised Predictive Controller" (CGPC). This idea is also extended to achieve non-linear observations of the system states. It is shown from simulations of an inverted pendulum on a cart that this strategy is much more eeective than a non-linear CGPC in terms of control system analysis, control quality, computation demand and noise robustness.