Magni, Lalo ; Nicolao, Giuseppe de ; Scattolini, Riccardo
In the paper, we discuss how to design a predictive controller capable of addressing a number of important issues ranging from nominal stability to the model identification/controller design interplay. Nominal stability is ensured by resorting to Constrained Receding Horizon Predictive Control. As for robust stability, the connections between the frequency weighting P-polynomial in the cost function and the achievable robustness against multiplicative uncertainty are investigated. ; Then, a two-step design procedure is proposed in order to enhance the closed-loop robustness and obtain nominal performances. A correlation technique is also proposed as a tool to estimate uncertainty bounds to be used in controller design. Finally, the control and identification procedures are put together to form an iterative identification/control design methodology. A simulation example is reported to illustrate the approach.
Zielona Góra: Uniwersytet Zielonogórski
AMCS, volume 9, number 1 (1999) ; click here to follow the link
Biblioteka Uniwersytetu Zielonogórskiego
Sep 3, 2021
Jan 19, 2021
|Some issues in the design of predictive controllers||Sep 3, 2021|
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