Title :
Robust extended Kalman filter based nonlinear model predictive control formulation
Author :
Huang, Rui ; Patwardhan, Sachin C. ; Biegler, Lorenz T.
Author_Institution :
Dept. of Chem. Eng., Carnegie Mellon Univ., Pittsburgh, PA, USA
Abstract :
The analysis of the EKF error sequence in is expanded to the case with non-vanishing perturbations. The robust stability of NMPC and EKF pair is established. In addition, we propose an output-feedback NMPC formulation based on both the prior and posterior errors of the EKF to achieve offset-free regulatory control behavior.
Keywords :
Kalman filters; feedback; nonlinear control systems; nonlinear filters; perturbation techniques; predictive control; robust control; EKF error sequence; nonlinear model predictive control formulation; nonvanishing perturbation; offset-free regulatory control behavior; output feedback; robust extended Kalman filter; robust stability; Additive noise; Chemical engineering; Chemical technology; Error correction; Nonlinear systems; Predictive control; Predictive models; Robust control; Robust stability; Stability analysis;
Conference_Titel :
Decision and Control, 2009 held jointly with the 2009 28th Chinese Control Conference. CDC/CCC 2009. Proceedings of the 48th IEEE Conference on
Conference_Location :
Shanghai
Print_ISBN :
978-1-4244-3871-6
Electronic_ISBN :
0191-2216
DOI :
10.1109/CDC.2009.5400421
