Optimal control of nonlinear systems: A predictive control approach
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A special case of nonlinear generalised predictive control (GPC) in which the degree of output prediction is constrained in terms of relative degree and control order is presented. The approach gives an analytic solution for a class of multivariable nonlinear systems in terms of a GPC performance index. Four assumptions are imposed: the zero dynamics is stable, all states are available, each of the system outputs has the same relative degree, the output and the reference input are continuously differentiable with respect to time. The outlined features of the proposed GPC are: the optimal control is given in a closed form and depends only on the states of the system, on-line optimization is not necessary, the design parameters (the control order and the prediction interval) can be determined according to the overshoot and settling time specifications. The procedure is illustrated by the GPC design for a high angle of attack missile.
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