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A stable model predictive control algorithm without terminal weighting
The introduction of terminal penalty in the performance index and the usage of the
concept of terminal regions now become common practice in Model Predictive Control
(MPC) for guaranteeing its stability. However, it is quite difficult and conservative to
propagate the influence of disturbances and uncertainties from an initial state to the
terminal state, in particular, when the predictive horizon is long. This paper presents a
new stable MPC algorithm where the additional weighting on the first state rather than on
the terminal state in the horizon is imposed. Furthermore, a new tuning knob is
introduced in the performance index, which can be used to trade off between disturbance
attenuation/robustness and stability. It is shown that in the absence of disturbances and
uncertainties, the new MPC algorithm achieves the similar performance as current
terminal weighting based MPC algorithms. However, it exhibits much better disturbance
attenuation ability and robustness against uncertainties. The proposed method is
favorably compared with terminal weighting based MPC algorithms by a numerical
example.
History
School
- Aeronautical, Automotive, Chemical and Materials Engineering
Department
- Aeronautical and Automotive Engineering
Citation
CHEN, W-H. and HU, X-B., 2005. A stable model predictive control algorithm without terminal weighting. Transactions of the Institute of Measurement and Control, 27, (2), pp.119-135. [DOI: 10.1191/0142331205tm136oa]Publisher
© SagePublication date
2005Notes
This is a journal article. The final, definitive version of this article has been published in the Journal, Transactions of the Institute of Measurement and Control, 27 (2), 2005, © SAGE Publications Ltd by SAGE Publications Ltd at the Transactions of the Institute of Measurement and Control page: http://tim.sagepub.com/ on SAGE Journals Online: http://online.sagepub.com/ISSN
0142-3312Language
- en