Open-loop and closed-loop optimality in interpolation MPC
Model predictive control (MPC) algorithms for a class of input affine nonlinear systems are analysed and compared. Predicted future control trajectories are obtained by interpolating between an unconstrained optimal control law and a control law which locally stabilizes the constrained plant. Two techniques are discussed: addition of a terminal weight in the receding horizon objective, and inclusion of an explicit convergence constraint on closed-loop trajectories. The open-loop analysis is performed in order to reveal the relationship between these approaches. It is shown that the convergence constraint approach gives a smaller open-loop predicted cost and also achieves better closed-loop performance over the more conventional terminal penalty approach. The results of numerical simulation of a second-order single-input bilinear system with nonminimum-phase characteristics are provided.NEWLINENEWLINEFor the entire collection see [Zbl 0976.00019].
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- Successive constrained optimization and interpolation in non-linear model based predictive control
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- Closed-loop predictions in model based predictive control of linear and nonlinear systems
- On the design of stabilising conditions for linear MPC
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- A novel data-driven terminal iterative learning control with iteration prediction algorithm for a class of discrete-time nonlinear systems
- Interaction of open and closed loop control in MPC
- Transient response shaping, model based cheap control, saturation indices and MPC
- Closed-loop stabilizing MPC for discrete-time bilinear systems
- Successive constrained optimization and interpolation in non-linear model based predictive control
- State-space approach to interpolation in MPC
- Input-to-state stability of efficient robust \(H_{\infty}\) MPC scheme for nonlinear systems
- Closed-Loop Shaping Based on Nevanlinna–Pick Interpolation With a Degree Bound
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