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Table Of Contents

1.1 Model Predictive Control
1.1.1 MPC Idea
1.1.2 Implicit MPC Implementation
1.1.3 Explicit MPC Implementation
1.2. Computational Geometry 7
1.2 Computational Geometry
1.2.1 Surface Reconstruction via Delaunay Triangulation
1.2.2 Point Location
1.2.3 Convex Hull
1.3 Thesis Organization and Contributions
1.4 List of Publications
2.1 Model Setup
2.2. Positively Invariant Sets 21
2.2 Positively Invariant Sets
2.3 Polyhedral Sets
2.4. Model Predictive Control 25
2.4 Model Predictive Control
2.4.1 Stability in MPC
2.4.2 Quadratic Program Formulation
2.4.3 Multi-parametric Quadratic Program Formulation
2.4.4 Extensions
Approximate Explicit MPC via Delaunay Tessellations
3.1 Introduction
3.2 Problem Formulation
3.3 Approximate Explicit MPC
3.4. Delaunay Tessellation 43
3.4 Delaunay Tessellation
3.5 Approximate Controller
3.6 Approximation Error
3.7 The Algorithm
3.8 Stability
3.9 Complexity
3.10 Online Implementation
3.11. Numerical Illustrations 57
3.11 Numerical Illustrations
3.12 Conclusion
Feasible Sets for MPC and their Approximations
4.1 Introduction
4.2. Model Predictive Control 71
4.2 Model Predictive Control
4.3 The Feasible Set
4.3.1 Computing the Feasible Set: Standard Approach
4.3.2 Computing the Feasible Set: Alternative Approach
4.3.3 The Operating Set
4.4. Approximation of Feasible Sets 77
4.4 Approximation of Feasible Sets
4.4.1 Preserving Positive Invariance
4.4.2 The Operating Set Condition
4.4.3 Removing Vertices
4.4.4 Discussion on the Complexity Indexes
4.5 Discussion on Computational Complexity
4.6. Numerical Illustrations 85
4.6 Numerical Illustrations
4.6.1 Feasible Set Computation
4.6.2 Feasible Set Approximation
4.6.3 Application to Approximate Explicit MPC
4.7 Discussion and Conclusions
5.1 Introduction
5.2 Basic Notions
5.2.1 Polytopic Uncertainty
5.2.2 Definitions
5.3 Problem Formulation
5.4 Algorithm
5.5 Numerical Illustrations
5.5.1 Robust Feasibility for Optimal Explicit MPC
5.5.2 Robust Feasibility for Approximate Explicit MPC
5.5.3 Relation to Existing Robust MPC Approaches
5.6 Conclusions
Conclusions and Recommendation for Further Work
6.1 Final Remarks and Possible Future Research Di- rections
6.1.1 Approximate Explicit MPC via Dealunay Tessellations
6.1.2 Computation of Feasible Sets and of Suitable Approxima- tions
Secondary Papers
A.1. Multi-Rate MHE with Erroneous Infrequent Measurements Recovery 137
A.2. Stabilization of Gas-Lift Oil Wells Using Topside Measurements 145
A.2 Stabilization of Gas-Lift Oil Wells Using Topside Measurements
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Scabilla Phd Thesis

Scabilla Phd Thesis

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Published by Roshan Sharma

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Published by: Roshan Sharma on Nov 09, 2011
Copyright:Attribution Non-commercial


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