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A computationally efficient stable dual-mode type nonlinear predictive control algorithm. (English) Zbl 1153.93012

Summary: This paper describes a computationally efficient (suboptimal) nonlinear predictive control algorithm. The algorithm uses a modified dual-mode approach which guarantees closed-loop stability. In order to reduce the computational burden, instead of online nonlinear optimisation used in the classical dual-mode control scheme, a nonlinear model of the plant is linearised on-line and a quadratic programming problem is solved. Calculation of the terminal set and implementation steps of the algorithm are detailed, especially for input-output models, which are widely used in practice.

MSC:

93B40 Computational methods in systems theory (MSC2010)
93C10 Nonlinear systems in control theory
93B18 Linearizations
93D99 Stability of control systems
90C20 Quadratic programming
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