Nonlinear model predictive control. Theory and algorithms. (Q632378)

In the monograph nonlinear, discrete-time, finite-dimensional control systems with constant parameters are considered. In the first part the basis mathematical model is presented and fundamentals of predictive control are recalled. Next, infinite horizon optimal control is defined and discussed used the dynamic programming principle. Stability and suboptimality for problems with stabilizing constraints and without stabilizing constraints are studied. Moreover, the asymptotic controllability is defined and implications of the controllability assumption are analyzed. In the next part different variants and extensions for mixed constraints and for unconstrained schemes are investigated. Feasibility and robustness both for constrained and unconstrained algorithms are discussed. The numerical discretization is also studied. Finally, numerical methods of the optimal control problems of nonlinear systems with constraints and without constraints are discussed. The appendix contains software support for the algorithm presented in the monograph. Each chapter of the monograph contains many numerical examples which illustrate the theoretical considerations, several possible extensions and open problems. Moreover, relationships to results on predictive control published in the literature are pointed out.