Predictive control with constraints
constraintsdiscrete-time systemsfake algebraic Riccati equationsfeedforwardinterior point methodsinternal modelMATLABmultivariable plantoff-set-free trackingon-line optimizationprediction horizonpredictive controlrobust feasibilitystabilizationstate observersstate-space settingstep responsetuningYoula parametrization
The book, consisting of a Preface, 10 Chapters, References, and 3 Appendices, presents model-based predictive control (PC) with constraints. Chapter 1 introduces the main concepts involved in PC such as internal model, reference trajectory, on-line optimization. Chapter 2 presents a standard formulation of PC with constraints for a multivariable plant in a state-space setting. The concepts of an independent model, offset-free tracking and stabilization of an unstable model are discussed in the context of state observers. Chapter 3 deals with solving PC problems under constraints mainly by using active set and interior point methods. The structure of the resulting controller is discussed. Softening the constraints is described as a way to solve the situation when the optimization problem becomes infeasible. Chapter 4 presents the formulation of PC based on step response and transfer function models, and shows their relation to the state-space setting. Chapter 5 presents other formulations of PC such as the usage of feedforward or non-quadratic costs, predictive functional control, and continuous-time PC. Chapter 6 presents methods guaranteeing closed-loop nominal system stability. Two principal methods are presented to support this: terminal constraints and infinite horizon. Further, fake algebraic Riccati equations and the Youla parametrization are also introduced. Chapter 7 deals with tuning of controller parameters to optimize the prediction horizon, the time constant of the reference trajectory, and weights in the criteria. Chapter 8 considers PC robust to parameter uncertainties. Some recent research proposals based on a tuning procedure of Lee and Yu, the LQG/LTR tuning procedure, the LMI approach, as well as robust feasibility are introduced. This problem is still under research. Chapter 9 presents two case studies. Chapter 10 considers some perspectives of PC such as the possibilities of constraint management, the use of nonlinear models, and the potential of PC for fault-tolerant control. The appendices provide details of some software issues: leading commercial products, software used in the book, and MATLAB's MPC Toolbox. The book provides a systematic and comprehensive course on predictive control with mini-tutorials on special topics, numerous examples and exercises. This well-readable and self-contained textbook which promotes the use of MATLAB is primarily addressed to graduate students as well as practicing engineers.
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- Model predictive control system design and implementation using \texttt{MATLAB}
- Model predictive control. With a foreword by M. J. Grimble and M. A. Johnson
- scientific article; zbMATH DE number 941033
- Model predictive control system design and implementation using \texttt{MATLAB}
- Model predictive control of nonlinear hybrid systems with discrete inputs employing a hybrid fuzzy model
- A hybrid steepest descent method for constrained convex optimization
- Performance bounds for linear stochastic control
- Event-driven optimization-based control of hybrid systems with integral continuous-time dynamics
- Generalized bang-bang control for feedforward constrained regulation
- Constrained stabilization problems for linear plants
- Optimization-free robust MPC around the terminal region
- Nonlinear predictive control system for stiction compensation in electropneumatic control valves
- Velocity-weighting \& velocity-penalty MPC of an artificial pancreas: improved safety \& performance
- An approximation method for computing the expected value of max-affine expressions
- Stability constraints for robust model predictive control
- Handbook of model predictive control
- Suboptimal receding horizon estimation via noise blocking
- A hybrid control system for an unstable non-stationary plant with a predictive model
- Suboptimal control strategies for finite-time nonlinear processes with input constraints
- Online partitioning method for decentralized control of linear switching large-scale systems
- Two-dimensional frequency analysis for unconstrained model predictive control of cross-directional processes
- Incorporating state estimation into model predictive control and its application to network traffic control
- Two-layer linear MPC approach aimed at walking beam billets reheating furnace optimization
- Scalable distributed model predictive control for constrained systems
- Improving the performance of networked control systems with time delay and data dropouts based on fuzzy model predictive control
- Nonlinear model predictive control based on piecewise linear Hammerstein models
- Control of the triple chaotic attractor in a Cournot triopoly model
- Explicit predictive control with non-convex polyhedral constraints
- GPC with structured perturbations: the influence of prefiltering and terminal equality constraints
- Towards online model predictive control on a programmable logic controller: practical considerations
- MPC schemes guaranteeing ISDS and ISS for nonlinear (time-delay) systems
- Multivariable robust MPC design for neutralisation plant: experimental analysis
- Offset-free state-space nonlinear predictive control for Wiener systems
- Desired terminal state concept in model predictive control: a case study
- Assessment of the GPC control quality using non-Gaussian statistical measures
- Nonlinear model predictive control for processes with complex dynamics: a parameterisation approach using Laguerre functions
- A numerically efficient fuzzy MPC algorithm with fast generation of the control signal
- A Hamiltonian decomposition for fast interior-point solvers in model predictive control
- Aperiodic sampled-data MPC strategy for LPV systems
- Robust distributed model predictive control of linear systems: analysis and synthesis
- Control of COD flow to a waste water treatment plant
- NMPC in active subspaces: dimensionality reduction with recursive feasibility guarantees
- An improved predictive control model for stochastic max-plus-linear systems
- \texttt{acados} -- a modular open-source framework for fast embedded optimal control
- Real-time tunable approximated explicit MPC
- Self-triggered MPC with performance guarantee for tracking piecewise constant reference signals
- Probabilistic constraint tightening techniques for trajectory planning with predictive control
- Self-triggered MPC with performance guarantee using relaxed dynamic programming
- Analysis and control of max-plus linear discrete-event systems: an introduction
- Stabilization with guaranteed safety using barrier function and control Lyapunov function
- Offset-free IMC with generalized disturbance models
- Detection-averse optimal and receding-horizon control for Markov decision processes
- Exponential stability based design of constrained fuzzy predictive control
- Active fault-tolerant control design for Takagi-Sugeno fuzzy systems
- Pole-free vs. stable-pole designs of minimum variance control for nonsquare LTI MIMO systems
- On the finite time performance of model predictive control
- Stability analysis of piecewise affine systems with multi-model predictive control
- Handling parameter variations during the treatment of type 1 diabetes mellitus: in silico results
- A randomized relaxation method to ensure feasibility in stochastic control of linear systems subject to state and input constraints
- Predictive control of discrete time stochastic nonlinear state space dynamical systems: a particle nonparametric approach
- Convex-lifting-based robust control design using the tunable robust invariant sets
- Soft inequality constraints in gradient method and fast gradient method for quadratic programming
- Railway collaborative ecodrive via dissension based switching nonlinear model predictive control
- Discussion on Muskingum versus integrator-delay models for control objectives
- Model predictive control: recent developments and future promise
- The scenario approach for stochastic model predictive control with bounds on closed-loop constraint violations
- Constructive solution of inverse parametric linear/quadratic programming problems
- Adaptive nonlinear model predictive control design of a flexible-link manipulator with uncertain parameters
- A shared steering controller design based on steer-by-wire system considering human-machine goal consistency
- On the stability of receding horizon control for continuous-time stochastic systems
- Stabilization of max-plus-linear systems using model predictive control: the unconstrained case
- On decentralized negotiation of optimal consensus
- Medium term scheduling of a hydro-thermal system using stochastic model predictive control
- Reconfigurable predictive control for redundantly actuated systems with parameterised input constraints
- Lexicographic perturbation for multiparametric linear programming with applications to control
- Optimal control for linear systems with state equality constraints
- State estimation for linear systems with state equality constraints
- A stable block model predictive control with variable implementation horizon
- Complexity reduction in MPC for stochastic max-plus-linear discrete event systems by variability expansion
- Subspace-based prediction of linear time-varying stochastic systems
- Suboptimal target control for hybrid automata using model predictive control
- MPC for continuous piecewise-affine systems
- Receding horizon control applied to optimal mine planning
- Disturbance modeling and state estimation for offset-free predictive control with state-space process models
- Design of a multivariable neural controller for control of a nonlinear MIMO plant
- Transient response shaping, model based cheap control, saturation indices and MPC
- Dynamic programming and suboptimal control: a survey from ADP to MPC
- Hybrid control of networked embedded systems
- A generic strategy for fault-tolerance in control systems distributed over a network
- Properties of MPC for max-plus-linear systems
- Stabilization with guaranteed safety using control Lyapunov-Barrier function
- Implicit improved vertex control for uncertain, time-varying linear discrete-time systems with state and control constraints
- Least-restrictive robust periodic model predictive control applied to room temperature regulation
- Feasibility of generalized predictive control algorithm with constrained input
- A model-based PID controller for Hammerstein systems using B-spline neural networks
- Long horizon input parameterisations to enlarge the region of attraction of MPC
- Performance of an eco-driving model predictive control system for HEVs during car following
- A robust predictive control design for nonlinear active suspension systems
- A fast model-predictive speed controller for minimised charge consumption of electric vehicles
- A receding horizon sliding controller for automotive engine coldstart: design and hardware-in-the-loop testing with an echo state network high-fidelity model
- State observers for model predictive control
- Supervisory fault-tolerant control with mutual performance optimization
- Robust multisensor fault tolerant model-following MPC design for constrained systems
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