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Table Of Contents

Abstract
1.1 Systems
1.2 Modeling
1.3 State space model and input/output model
1.3.1 State space model
1.3.2 Transfer function model
1.4. Discretization of continuous-time systems 9
1.3.3 Impulse response and convolution model
1.4 Discretization of continuous-time systems
1.4.1 State space model
1.4.2 Impulse transfer function model
1.4.3 Impulse response and convolution model
1.5.1 Streams and history
1.5.2 Basic properties
1.5.3 “Three principles” of industrial MPC
1.6 Three typical optimal control problems of
1.6.1 Infinite-horizon
1.6.2 Finite-horizon: classical MPC
1.6.3 Finite-horizon: synthesis approaches
1.8.1 Three related control problems
1.8.2 Suboptimal solution
1.8.3 Feasibility and stability analysis
1.8.4 Numerical example
2.1 Principle of MAC
2.1.1 Impulse response model
2.1.2 Prediction model and feedback correction
2.1.3 Optimal control: case single input single output
2.1.4 Optimal control: case multi-input multi-output
2.2 Constraint handling
2.3 The usual pattern for implementation of
3.1 Step response model and its identification
3.2 Principle of DMC
3.2.1 Case single input single output
3.2.3 Case multi-input multi-output
3.2.4 Remarks on Matlab MPC Toolbox
3.3 Constraint handling
4.1 Principle of GPC
4.1.1 Prediction model
4.1.2 Solution to the Diophantine equation
4.1.3 Receding horizon optimization
4.1.4 On-line identification and feedback correction
4.2 Some basic properties
4.3.1 Transformation to the linear quadratic control problem
4.3.2 Tool for stability proof: Kleinman’s controller
4.3.3 GPC law resembling Kleinman’s controller
4.3.4 Stability based on Kleinman’s controller
4.4. Cases of multivariable systems and constrained systems 85
4.4 Cases of multivariable systems and con-
4.4.1 Multivariable GPC
4.4.2 Constraint handling
4.5. GPC with terminal equality constraint 89
4.5 GPC with terminal equality constraint
5.1 Two-step GPC
5.1.1 Case unconstrained systems
5.1.2 Case with input saturation constraint
5.2 Stability of two-step GPC
5.2.1 Results based on Popov’s Theorem
5.2.2 Two algorithms for finding controller parameters
5.2.3 Determination of bounds for the real nonlinearity
5.3 Region of attraction by using two-step
5.3.1 State space description of the controller
5.3.2 Stability relating with the region of attraction
5.3.3 Computation of the region of attraction
5.3.4 Numerical example
5.4 Two-step state feedback MPC (TSMPC)
5.5 Stability of TSMPC
5.6.3 Numerical example
5.8 Stability of TSOFMPC
6.1 General idea: case discrete-time systems
6.1.1 Modified optimization problem
6.1.3 Direct method for stability proof
6.1.4 Monotonicity method for stability proof
6.1.5 Inverse optimality
6.2 General idea: case continuous-time sys-
6.3 Realizations
6.3.1 Using terminal equality constraint
6.3.2 Using terminal cost function
6.3.3 Using terminal constraint set
6.5 Robust MPC based on closed-loop opti-
6.6.1 Determination of the three ingredients
6.6.2 Asymptotic stability
7.2.1 Performance cost handling and unconstrained MPC
7.2.2 Constraint handling
8.1 Standard approach for nominal systems
8.3 On-line approach for nominal systems
proach of MPC
8.4.1 Overall idea
8.4.3 Case finite-horizon without terminal weighting
8.4.4 Case finite-horizon with terminal weighting
8.4.5 Quasi-optimality, algorithm and stability
8.4.6 Numerical example
8.4.7 A comparison with another approach
9.1.1 Aim: achieving larger region of attraction
9.1.2 Efficient algorithm
9.2 Triple-mode approach
9.3 Mixed approach
9.3.1 Algorithm
9.3.2 Joint superiorities
9.3.3 Numerical example
9.6 Approach with unit switching horizon
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1420085301 Predictive Control

1420085301 Predictive Control

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Published by Ahmed Amine Souanef

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Published by: Ahmed Amine Souanef on Oct 25, 2011
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