Model predictive path-following for constrained nonlinear systems
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The process industries are characterized by a large number of continuously operating plants, for which optimal operation is of economic importance. However, optimal operation is particularly difficult to achieve when the process model used in the optimizat ...
Some frequency-domain controller design problems are solved using a finite number of frequency samples. Consequently, the performance and stability conditions are not guaranteed for the frequencies between the frequency samples. In this paper, all possible ...
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Solid Oxide Fuel Cells (SOFC) are energy conversion devices that produce electrical energy via the reaction of a fuel with an oxidant. Although SOFCs have become credible alternatives to non-renewable energy sources, efforts are still needed to extend thei ...
In this paper, the Multirate Integral Sliding Mode (MRISM) control strategy for nonlinear discrete-time systems is proposed. The MRISM controller acts at a faster sampling time than a high level controller, and reduces the effect of model uncertainties and ...
A model predictive control scheme to solve path-following problems for nonlinear systems subject to input and state constraints is proposed. Sufficient conditions which guarantee the stability of the proposed scheme are derived. Furthermore, it is discusse ...
In Model Predictive Control, the enforcement of hard state constraints can be overly conservative or even infeasible, especially in the presence of disturbances. This work presents a soft constrained MPC approach that provides closed- loop stability even f ...
Optimization arises naturally when process performance needs improvement. This is often the case in industry because of competition – the product has to be proposed at the lowest possible cost. From the point of view of control, optimization consists in de ...
We address the problem of steering the output of a nonlinear system along a given parametrized reference path, taking input and state constraints into account. Such problems are known as output path-following problems, which typically arise in vehicle and ...
In the frame of this work, the problem of following parametrized refer- ence paths via nonlinear model predictive control is considered. It is shown how the use of parametrized paths introduces new degrees of freedom into the con- troller design. Sufficien ...
Fast model predictive control on embedded sys- tems has been successfully applied to plants with microsecond sampling times employing a precomputed state-to-input map. However, the complexity of this so-called explicit MPC can be prohibitive even for low-d ...