Modern Predictive Control (Hardcover)

Systems, modeling and model predictive control

Systems

Modeling

State space model and input/output model

Discretization of continuous-time systems

Model predictive control (MPC) and its basic properties

Three typical optimal control problems of MPC

Finite-horizon control: an example based on "three principles"

Infinite-horizon control: an example of dual-mode suboptimal control

Development from classical MPC to synthesis approaches

Model algorithmic control (MAC)

Principle of MAC

Constraint handling

The usual pattern for implementation of MPC

Dynamic matrix control (DMC)

Step response model and its identification

Principle of DMC

Constraint handling

Generalized predictive control (GPC)

Principle of GPC

Some basic properties

Stability results not related to the concrete model coefficients

Cases of multivariable systems and constrained systems

GPC with terminal equality constraint

Two-step model predictive control

Two-step GPC

Stability of two-step GPC

Region of attraction by using two-step GPC

Two-step state feedback MPC (TSMPC)

Stability of TSMPC

Design of the region of attraction of TSMPC based on semiglobal stability

Two-step output feedback model predictive control (TSOFMPC)

Stability of TSOFMPC

TSOFMPC: case where the intermediate variable is available

Sketch of synthesis approaches of MPC

General idea: case discrete-time systems

General idea: case continuous-time systems

Realizations

General idea: case uncertain systems (robust MPC)

Robust MPC based on closed-loop optimization

A concrete realization: case continuous-time nominal systems

State feedback synthesis approaches

System with polytopic description, linear matrix inequality

On-line approach based on min-max performance cost: case zero-horizon

Off-line approach based on min-max performance cost: case zero-horizon

Off-line approach based on min-max performance cost: case varying-horizon

Off-line approach based on nominal performance cost: case zero-horizon

Off-line approach based on nominal performance cost: case varying-horizon

Synthesis approaches with finite switching horizon

Standard approach for nominal systems

Optimal solution to infinite-horizon constrained linear quadratic control utilizing synthesis approach of MPC

On-line approach for nominal systems

Quasi-optimal solution to the infinite-horizon constrained linear time-varying quadratic regulation utilizing synthesis approach of MPC

On-line approach for systems with polytopic description

Parameter-dependent on-line approach for systems with polytopic description

Open-loop optimization and closed-loop optimization in synthesis approaches

A simple approach based on partial closed-loop optimization

Triple-mode approach

Mixed approach

Approach based on single-valued open-loop optimization and its deficiencies

Approach based on parameter-dependent open-loop optimization and its properties

Approach with unit switching horizon

Output feedback synthesis approaches

Optimization problem: case systems with input-output (I/O) nonlinearities

Conditions for stability and feasibility: case systems with I/O nonlinearities

Realization algorithm: case systems with I/O nonlinearities

Optimization problem: case systems with polytopic description

Optimality, invariance and constraint handling: case systems with polytopic description

Realization algorithm: case systems with polytopic description

Bibliography

Index