Linear embedding vs. direct nonlinear MPC schemes: a case study

Author

Casavola, A. ; Famularo, Domenico ; Franzè, G.

Author_Institution

DEIS, Univ. della Calabria, Italy

Volume

5

fYear

2003

fDate

4-6 June 2003

Firstpage

4305

Abstract

A robust MPC strategy is described for solving set-point problems for a class of nonlinear systems subject pointwise-in-time input and/or state related constraints. The trajectories of the nonlinear system are embedded within those of a linear parameter varying (LPV) uncertain system so that the convex computational paradigm of the LMI optimization can be used. In this note, the main features of a convex robust linear MPC scheme, suitable for the embedding, are presented and it is contrasted, via a highly nonlinear example, with a direct nonlinear non-convex MPC scheme in terms of control performance and computational burdens.

Keywords

linear matrix inequalities; linear systems; nonlinear control systems; optimisation; predictive control; robust control; uncertain systems; LMI optimization; convex computational paradigm; convex robust linear MPC scheme; direct nonlinear MPC scheme; direct nonlinear nonconvex MPC scheme; linear embedding; linear matrix inequalities; linear parameter varying uncertain system; model predictive control; nonlinear system; nonlinear system trajectory; pointwise-in-time input; set-point problem; state related constraint; Computer aided software engineering; Continuous-stirred tank reactor; Control systems; Embedded computing; Nonlinear control systems; Nonlinear systems; Predictive control; Predictive models; Robust control; Robustness;

fLanguage

English

Publisher

ieee

Conference_Titel

American Control Conference, 2003. Proceedings of the 2003

ISSN

0743-1619

Print_ISBN

0-7803-7896-2

Type

conf

DOI

10.1109/ACC.2003.1240514

Filename

1240514