Title :
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
fDate :
6/21/1905 12:00:00 AM
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;
Conference_Titel :
Decision and Control, 1999. Proceedings of the 38th IEEE Conference on
Print_ISBN :
0-7803-5250-5
DOI :
10.1109/CDC.1999.832874
