Open Daily: 10am - 10pm | Alley door pickup 10am - 7pm 3038 Hennepin Ave Minneapolis, MN
612-822-4611

  • Open Daily: 10am - 10pm
    Alley-side Pickup: 10am - 7pm

    3038 Hennepin Ave Minneapolis, MN
    612-822-4611

Open Daily: 10am - 10pm | Alley-side Pickup: 10am - 7pm
3038 Hennepin Ave Minneapolis, MN
612-822-4611
The Gradient Based Nonlinear Model Predictive Control System

The Gradient Based Nonlinear Model Predictive Control System

Jung, Sooyong

Paperback

Technology & Engineering

ISBN10: 363921241X
ISBN13: 9783639212419
Publisher: Blues Kids Of Amer
Published: Nov 10 2009
Pages: 136
Weight: 0.46
Height: 0.32 Width: 6.00 Depth: 9.00
Language: English
A class of nonlinear model predictive control(NMPC) law based on gradient-based iteration is analyzed and implemented real-time in this book. This NMPC law takes only a finite number of Newton steps in each sampling period instead of solving the complete optimal control problem. The key attribute of the NMPC algorithmused here is that it only seeks to reduce the error at the end of the prediction horizon rather than tries to find the optimal solution. This reduces the computation load and allows for real-time implementation. The stability is shown for a class of discrete-time control-affine system that the NMPC has some inherent robustness property with respect to external disturbances and model error. This property follows from the exponential convergence of the predicted state error. The robustness of this NMPC is analyzed and quantified with uncertainties. In addition to simulation examples, the NMPC algorithm is also applied to the swing-up control experiment of a rotary inverted pendulum. We also discuss the implementation strategy, state estimation issue, and experimental results.

Also in

Technology & Engineering

View All