Predictive Control of Nonlinear Systems based on Extended Linearization

Predictive control for nonlinear systems of ten deals with nonlinear programming and is not suitable for real-time control. In this paper a multi-layer design procedure of the predictive control for nonlinear systems is presented. At first the nonlinear state feedback of the extended linearization is used to obtain the approximate incremental linearized model of the system, and then the predictive control in state space description is adopted to achieve fine tracking performance and robustness. The new design method is convenient for calculation and can meet the requirements of the real-time control. A simulation example is also given to verify its good performances.