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In the name of God

Model Predictive Control

(Theory & Design)

Lecture # 03

By:
Dr. Farhad Bayat

Department of Engineering,
University of Zanjan

Email: bayat.farhad@znu.ac.com

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‫ ﮐﻨﺘﺮل ﮐﻨﻨﺪهﻫﺎي ﭘﯿﺶﺑﯿﻦ ﻣﺒﺘﻨﯽ ﺑﺮ ﻣﺪل‬:2 ‫ﻓﺼﻞ‬

Chapter’s Goal:
This chapter describes the elements that are
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common to all Model Predictive controllers,

showing the various alternatives used in the
different implementations.
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‫ ﮐﻨﺘﺮل ﮐﻨﻨﺪهﻫﺎي ﭘﯿﺶﺑﯿﻦ ﻣﺒﺘﻨﯽ ﺑﺮ ﻣﺪل‬:2 ‫ﻓﺼﻞ‬

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Optimization

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Ø The model is the cornerstone of MPC;

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Ø The best possible model should be able to:

ü fully capture the process dynamics,
ü Allow the predictions to be calculated easily, and
ü be intuitive and permit theoretic analysis.
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Ø The different strategies of MPC use various

models to represent the relationship between
the outputs and the measurable inputs,
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Ø A disturbance model can also be taken into

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account to describe the behavior not reflected by the

process model, including the effect of non-measurable inputs,
noise and model errors.

In general:
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Ø The model can be separated into two parts:

ü the actual process model and
ü the disturbances model.
Both parts are needed for the prediction.
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Practically every possible form of modelling is acceptable in

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MPC formulation.

The most commonly ones are:

Ø Impulse response,
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Non-parametric Models
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Ø Step response, i.e.: Generally require infinite

number of parameters.

Ø Transfer function, Parametric Models

Ø State-space model.
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i.e.: Require finite number of
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parameters.
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Ø Impulse response:
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Also known as weighting sequence or convolution

model, it appears in MAC and as a special case in GPC
and EPSAC.
{h1 , h2 , h3 , L}
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¥
Sometimes we use a different indexing as: y (t ) = å hi u (t - i - 1)
i =0

{h0 , h1 , h2 , L}
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N
» å hi u ( t - i )
Remark: i =1

In practice, this sum is truncated and only N values are

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considered (thus only stable processes without integrators

can be represented), resulting:

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Remark:
Another drawback of this method is the large number of parameters
necessary, as N is usually a high value (on the order of 40 to 50).
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This method is widely accepted in industrial practice because:

ü It is very intuitive,
ü Clearly reflects the influence of each manipulated variable on a
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determined output,
ü no prior information about the process is needed, so that the
identification process is simplified, and
ü It allows complex dynamics such as non-minimum phase or
delays to be described easily.
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For a multivariable process, the different outputs will

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reflect the effect of the m inputs as:

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Ø Step Response Model:

Ø This model is used by DMC and its variants,
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Ø This is very similar to impulse response except that

the input signal is a step.
¥
y (t ) = å g i Du (t - i )
i =1
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¥
Sometimes we may use a different indexing: y (t ) = å g i Du (t - i - 1)
i =0

{g 0 , g 1 , g 2 , L}
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Ø Step Response Model:

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For stable systems, the truncated response is given by:

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The predictor for FSR model will be:

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Ø This method has the same advantages and disadvantages

as the impulse response method.
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As an impulse can be considered as the difference between two

steps with a lag of one sampling period, then:
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Proof:
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Easy!...
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Do Yourself!
The parameters of the FSR (gi) are the sum of the FIR (hj) points
till the current discrete time. This result is in accordance with the
known relation that the continuous time unit step response is the
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integral of the unit pulse response.

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Example: Assume a system as:

The sampling time is ΔT=2 sec.
At the input zero-order hold is applied.
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G d ( z ) = c 2d (G , 2)
ß
0.3625z -1
Gd ( z ) =
1 - 0.8187 z -1
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Effect of delay (dead-time):

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