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Title: Model predictive control of nonlinear systems: computational burden and stability
Authors: Chen, Wen-Hua
Ballance, Donald J.
O'Reilly, John
Keywords: Nonlinear Systems
Generalised Predictive Control
Computational Delay
Optimisation
Stability
Constrained Control online Optimisation Problem
Issue Date: 2000
Publisher: © Institution of Electrical Engineers
Citation: CHEN, W-H., BALLANCE, D. J. and O'REILLY, J., 2000. Model predictive control of nonlinear systems: computational burden and stability. IEE proceedings: control theory and applications, 147 (4), pp. 387-394
Abstract: Implementation of Model Predictive Control (MPC) for nonlinear systems requires on-line solution of a non-convex, constrained nonlinear optimisation problem. Computational delay and loss of optimality arise in the optimisation procedures. This paper presents a practical MPC scheme for nonlinear systems with guaranteed asymptotic stability. It is shown that when an initial control profile is chosen to satisfy an inequality condition in each on-line optimisation procedure, the nonlinear system under the proposed nonlinear MPC is asymptotically stable. The stability condition presented in this paper enables the “fictitious” terminal control to be nonlinear, rather than only linear, and thus the stability region is greatly enlarged. Furthermore it is pointed out that nominal stability is still guaranteed even though the global, or even the local, minimisation of the objective cost is not achieved within the prescribed computational time
Description: This is a journal article. It was published in the journal, IEE proceedings: control theory and applications and is subject to Institution of Engineering and Technology copyright: http://www.ietdl.org/journals/doc/IEEDRL-home/info/support/copyinf.jsp. The definitive version of the paper is available at IET Digital Library.
URI: https://dspace.lboro.ac.uk/2134/3857
ISSN: 1350-2379
Appears in Collections:Published Articles (Aeronautical and Automotive Engineering)

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