Title :
Predictive control with added feedback for fast nonlinear systems
Author :
Ronco, E. ; Srinivasan, B. ; Favez, J.Y. ; Bonvin, D.
Author_Institution :
Inst. d´Autom., Ecole Polytech. Fed. de Lausanne, Lausanne, Switzerland
Abstract :
A major difficulty arises in predictive control when the prediction of the system evolution becomes unreliable due to the presence of uncertainty. This problem is particularly important for fast nonlinear systems since significant divergence can occur during the time required for optimization. As a solution to this problem, the addition of a linear state feedback controller regulating the prediction error is proposed. Using the neighbouring extremal theory, it is shown that this combination is a first-order approximation to an infinitely-fast receding horizon controller. The effectiveness of this methodology is illustrated via simulation on an inverted pendulum.
Keywords :
approximation theory; nonlinear control systems; pendulums; predictive control; state feedback; fast nonlinear systems; first-order approximation; infinitely-fast receding horizon controller; inverted pendulum; linear state feedback controller; neighbouring extremal theory; optimization; prediction error regulation; predictive control; simulation; system evolution; Approximation methods; Dispersion; Optimization; Predictive control; Predictive models; State feedback; Uncertainty; Neighbouring extremals; Nonlinear systems; Optimal control; Predictive control;
Conference_Titel :
Control Conference (ECC), 2001 European
Conference_Location :
Porto
Print_ISBN :
978-3-9524173-6-2