Title :
Robust model predictive control for nonlinear systems
Author :
De Oliveira, Simone L. ; Morari, Manfred
Author_Institution :
Dept. of Chem. Eng., California Inst. of Technol., Pasadena, CA, USA
Abstract :
A technique is introduced for the design of a robustly stabilizing model predictive output feedback controller for continuous time-varying nonlinear constrained systems. The controller is easily implementable and computationally inexpensive. A family of first order approximations of the plant is used for computation of the optimal control moves, which allows the optimization problem to be posed as a quadratic programming problem (QP). Through the use of a “stability constraint” the resulting control algorithm can be made asymptotically stable and is able to handle unknown time-varying disturbances, measurement bias and structural model/plant mismatch
Keywords :
asymptotic stability; continuous time systems; feedback; nonlinear systems; optimal control; predictive control; quadratic programming; robust control; time-varying systems; asymptotic stability; continuous time-varying systems; first order approximations; nonlinear constrained systems; nonlinear systems; optimal control; output feedback; quadratic programming; robust model predictive control; Constraint optimization; Control systems; Nonlinear control systems; Nonlinear systems; Optimal control; Predictive control; Predictive models; Quadratic programming; Robust control; Stability;
Conference_Titel :
Decision and Control, 1994., Proceedings of the 33rd IEEE Conference on
Conference_Location :
Lake Buena Vista, FL
Print_ISBN :
0-7803-1968-0
DOI :
10.1109/CDC.1994.411701
