Scribd Logo
Upload

Welcome to Scribd!

  • MpcFinal 2013 Solution

    Uploaded by

    Mohammed Belkheiri
    13 views20 pages
    Model predictive control

    Copyright

    © © All Rights Reserved

    Available Formats

    PDF or read online from Scribd

    Did you find this document useful?

    Is this content inappropriate?

    Report this Document
    Model predictive control

    Copyright:

    © All Rights Reserved
    Download as PDF or read online from Scribd
    Flag for inappropriate content
    13 views20 pages

    MpcFinal 2013 Solution

    Uploaded by

    Mohammed Belkheiri
    Model predictive control

    Copyright:

    © All Rights Reserved
    Download as PDF or read online from Scribd
    Flag for inappropriate content
    of 20
    ME.425 Final Exam ‘Tuesday, June 18, 2013 NAME: SCIPER: ‘This exam is open boBk and open notes, but no computers are allowed Please answer all questions. Values of each question are given below. Problem:] 1 | 2 | 3 | 4 | 5 | Total Value’ 20 | 10 | 10 | 10 | 10 | 60 Grade: Problem 1. a) Any positively invariant set for the system x* = f(x) can be written as a polyhedron {x | Gx 2 Is this system globally stable? OYes - No hh) Does a Lyapunov function V(x) exist for the system 02 0 oO 06 11 0|x? 08 15 04 O Yes. but not a quadratic one of the form V( x7 Px i) Consider the system x+ = Ax +u-+w subject to the constraints ||x|| < 1 and l|ul] < 1 and a bounded disturbance w, wl 05. IfA= |b t]- what ete set of feasible states of an open-loop robust MPC problem as the horizon goes to infinity? wo O {0} O & I Ibllee $0.5} O € I bello < 1 oR 4) Consider the system x* = f(x. u) =u, with input constraint u € U = {u | Jullac <2}. What is the maximum control invariant set for this system? oo O 0} O & Iles $2} ey ME.425 Final Exam Tuesday, June 18, 2013 i) What is the solution to the following optimization min{c7 | [bxlbo set and plot the optimal point. Olelh lel O llelle © -llelle O Ilellee O HHlelle 1}. Hint: Sketch the feasible |) Consider two aircraft A and B in space with position coordinates given by xa and xe. The estimates of xa and xp are denoted by %a and Xa. Assume that the estimation errors wa = xa—Za and we = xe—%e are bounded by a constant |lwal| 2 im) Is the Constraint from the previous point convex? Oves Kine 1) Define the control law #(x) as (x) = argmin {llull2 | f(x, u) € Coo} @ where Coo is the maximum control invariant set for the system x* = F(x, u) subject to the constraints xeX, ve, Is the system x+ = F(x, w(x) necessarily asymptotically stable? oe xo (0) Consider the following optimization problem, which has a local minimum at x = x min x7 Hx-+ AT x stafx

    You might also like