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Nonlinear control of constrained linear systems via predictive reference management

Bemporad, Alberto and Casavola, Alessandro and Mosca, Edoardo Nonlinear control of constrained linear systems via predictive reference management. IEEE Transactions on Automatic Control , 42 (3). pp. 340-349. ISSN 0018-9286 (1997)

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A method based on conceptual tools of predictive control is described for solving set-point tracking problems wherein pointwise-in-time input and/or state inequality constraints are present. It consists of adding to a primal compensated system a nonlinear device, called command governor (CG), whose action is based on the current state, set-point, and prescribed constraints. The CG selects at any time a virtual sequence among a family of linearly parameterized command sequences, by solving a convex constrained quadratic optimization problem, and feeds the primal system according to a receding horizon control philosophy. The overall system is proved to fulfill the constraints, be asymptotically stable, and exhibit an offset-free tracking behavior, provided that an admissibility condition on the initial state is satisfied. Though the CG can be tailored for the application at hand by appropriately choosing the available design knobs, the required online computational load for the usual case of affine constraints is well tempered by the related relatively simple convex quadratic programming problem

Item Type: Article
Identification Number: 10.1109/9.557577
Funders: This work was supported in part by MURST within the National Research Project “Identificazione di modelli, controllo di sistemi, elaborazione di segnali.”
Uncontrolled Keywords: asymptotic stability; compensation; computational complexity; convex programming; nonlinear control systems; nonlinear programming predictive control quadratic programming
Subjects: Q Science > QA Mathematics > QA75 Electronic computers. Computer science
T Technology > TJ Mechanical engineering and machinery
Research Area: Computer Science and Applications
Depositing User: Professor Alberto Bemporad
Date Deposited: 27 Jul 2011 09:19
Last Modified: 16 Jul 2014 13:52
URI: http://eprints.imtlucca.it/id/eprint/445

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