In this paper, a model-predictive control (MPC) method is detailed for the control of nonlinear systems with stability considerations. It will be assumed that the plant is described by a local input/output ARX-type model, with the control potentially included in the premise variables, which enables the control of systems that are nonlinear in both the state and control input. Additionally, for the case of set point regulation, a suboptimal controller is derived which has the dual purpose of ensuring stability and enabling finite-iteration termination of the iterative procedure used to solve the nonlinear optimization problem that is used to determine the control signal.
- Dynamic Systems and Control Division
Model-Predictive Control and Closed-Loop Stability Considerations for Nonlinear Plants Described by Local ARX-Type Models
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Cholette, ME, & Djurdjanovic, D. "Model-Predictive Control and Closed-Loop Stability Considerations for Nonlinear Plants Described by Local ARX-Type Models." Proceedings of the ASME 2013 Dynamic Systems and Control Conference. Volume 3: Nonlinear Estimation and Control; Optimization and Optimal Control; Piezoelectric Actuation and Nanoscale Control; Robotics and Manipulators; Sensing; System Identification (Estimation for Automotive Applications, Modeling, Therapeutic Control in Bio-Systems); Variable Structure/Sliding-Mode Control; Vehicles and Human Robotics; Vehicle Dynamics and Control; Vehicle Path Planning and Collision Avoidance; Vibrational and Mechanical Systems; Wind Energy Systems and Control. Palo Alto, California, USA. October 21–23, 2013. V003T35A005. ASME. https://doi.org/10.1115/DSCC2013-3973
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