In this paper, a dual-mode model predictive/linear control method is presented, which extends the concept of dual-mode model predictive control (MPC) to trajectory tracking control of nonlinear dynamic systems described by discrete-time state-space models. The dual-mode controller comprises of a time-varying linear control law, implemented when the states lie within a sufficiently small neighborhood of the reference trajectory, and a model predictive control strategy driving the system toward that neighborhood. The boundary of this neighborhood is characterized so as to ensure stability of the closed-loop system and terminate the optimization procedure in a finite number of iterations, without jeopardizing the stability of the closed-loop system. The developed controller is applied to the central air handling unit (AHU) of a two-zone variable air volume (VAV) heating, ventilation, and air conditioning (HVAC) system.
A Dual-Mode Model Predictive Control Algorithm Trajectory Tracking in Discrete-Time Nonlinear Dynamic Systems
Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received March 31, 2016; final manuscript received October 21, 2016; published online February 9, 2017. Assoc. Editor: Zongxuan Sun.
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Ul Haq, A. A., Cholette, M. E., and Djurdjanovic, D. (February 9, 2017). "A Dual-Mode Model Predictive Control Algorithm Trajectory Tracking in Discrete-Time Nonlinear Dynamic Systems." ASME. J. Dyn. Sys., Meas., Control. April 2017; 139(4): 044501. https://doi.org/10.1115/1.4035096
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