A globally valid continuous-time GPC through successive system linearisation

Author

Ronco, Eric ; Arsan, Taner ; Gawthrop, Peter J. ; Hill, David J.

Author_Institution

Sydney Univ., NSW, Australia

Volume

1

fYear

1999

fDate

6/21/1905 12:00:00 AM

Firstpage

726

Abstract

A successive off-equilibrium system linearisation approach is proposed to enhance fast control actions in a state space “continuous-time generalised predictive controller” (CGPC). This idea is also extended to achieve nonlinear observations of the system states. It is shown from simulations of an inverted pendulum on a cart that this strategy is much more effective than a nonlinear CGPC in terms of control system analysis, control quality, computation demand and noise robustness

Keywords

continuous time systems; control system analysis; linearisation techniques; nonlinear dynamical systems; observability; observers; predictive control; state-space methods; continuous-time systems; control system analysis; generalised predictive control; inverted pendulum; linearisation; nonlinear dynamical systems; observability; observers; state space; Analytical models; Computational modeling; Control systems; Ear; Equations; Nonlinear control systems; Open loop systems; Positron emission tomography; Predictive models; State-space methods;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control, 1999. Proceedings of the 38th IEEE Conference on

ISSN

0191-2216

Print_ISBN

0-7803-5250-5

Type

conf

DOI

10.1109/CDC.1999.832874

Filename

832874