Naslov
On-line Tuning of Controllers for Systems with Constraints

Autori
Barić, Miroslav ; Baotić, Mato ; Morari, Manfred

Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni

Izvornik
Proceedings of the 44th IEEE Conference on Decision and Control and European Control Conference ECC 2005 / - , 2005, 8288-8293

Skup
44th IEEE Conference on Decision and Control and European Control Conference ECC 2005

Mjesto i datum
Sevilla, Španjolska, 12.12.2005. - 15.12.2005

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
model predictive control; explicit solution; rim multi-parametric linear program; on-line tuning; stability analysis

Sažetak
Model Predictive Control (MPC) is traditionally applied to slow processes. Recently, an explicit solution to MPC was introduced, offering a possibility to extend the area of application to high-bandwidth processes. One of the main drawbacks of the explicit form of MPC is the loss of flexibility to adjust the objective of the controller on-line. We address this issue for constrained time-invariant discrete-time linear systems by defining a parametrized cost function based on piecewise linear norms. An explicit solution to MPC is obtained by solving a more general formulation of a multi-parametric linear program (mpLP), where both the cost and the constraints are parameter dependent. This fully parametrized explicit solution enables a re-adjustment of the parameters of the cost during the controller operation, without need for recomputation of the explicit solution. Furthermore, we show that the properties of the solution for the specific problem setup make stability analysis for a range of control parameters straightforward, providing bounds on the tunable parameters of the cost for which invariance and stability of the closed-loop system are preserved.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika, Računarstvo, Temeljne tehničke znanosti

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