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Overview of Model Predictive Control

Model Predictive Control (MPC) is a control technique that uses an explicit control law and an objective function to determine optimal control actions by predicting the future response of the system. The objective function is minimized over a future time horizon subject to system constraints to determine the control inputs. MPC has the advantage of being able to account for system constraints and future disturbances/reference signals when determining the optimal control actions. It has been successfully applied in various industrial processes.

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4 views20 pages

Overview of Model Predictive Control

Model Predictive Control (MPC) is a control technique that uses an explicit control law and an objective function to determine optimal control actions by predicting the future response of the system. The objective function is minimized over a future time horizon subject to system constraints to determine the control inputs. MPC has the advantage of being able to account for system constraints and future disturbances/reference signals when determining the optimal control actions. It has been successfully applied in various industrial processes.

Uploaded by

milad_pikaso
Copyright
© All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PPT, PDF, TXT or read online on Scribd

Model Predictive Control

(MPC)
A Short Summary

Introduction

MPC


receding

MPC

.
MPC .

.
.

MPC
MPC feed forward
.
.
) (constraints
.
.

MPC

N t .
( ) t
.

MPC

MPC

MPC




u

J

.
.

y (t ) hi u(t i ) H ( z ) u(t )
1

i 1

y (t ) y 0 gi u(t i ) y 0 G ( z 1 ) (1 z 1 ) u(t )
i 1

A( z 1 ) y (t ) B( z 1 ) u(t )

x(t ) M x(t 1) N u(t 1)

y (t ) Q x (t )


( j ) u (t j 1)2

Nu

( j ) y(t j | t ) w(t j )2

j 1

N2

j N1

J ( N1 , N 2 , N u )

N1 N2
Nu

(
) j( j )

quality effort




.
w(t k ) w(t k 1) (1 ) r (t k ) k 1,..., N


( )w1
( )w2

Constraints
.

MPC
.

)DMC (Dynamic Matrix Control





) n (t k | t ) n (t | t ) y m (t ) y (t | t

DMC

y (t )

gi u(t i)
i 1

n (t k | t ) n (t | t ) y m (t ) y (t | t )

y (t k | t )

gi u(t k i) n(t k | t )
i 1

i 1

i k 1

gi u(t k i) gi u(t k i) n(t k | t )


y (t k | t )

i 1

i k 1

i 1

i 1

gi u(t k i) gi u(t k i) ym (t ) gi u(t i) gi u(t k i) f (t k )

f (t k ) y m (t )

( g k i gi ) u(t i)
i 1
N

f (t k ) y m (t )

( g k i gi ) u(t i)
i 1

if

g k i g i 0, i N

DMC
y (t 1 | t ) g1 u (t ) f (t 1)
y (t 2 | t ) g 2 u (t ) g1 u (t 1) f (t 2)

y (t p | t )

gi u(t p i) f (t p)

i p m 1

g1
g
2

G
gm

g p
y G .u f

0
g1

g m 1

g p 1

g m2
g1

g p 2 g p m 1
pm

0
0

0
0



Nu

N2

y(t j | t ) w(t j) u(t j 1)

j1

j N1

J( N1 , N 2 , N u )

J
:
) u (GT G I ) 1 GT ( w f

J (Gu f w) T (Gu f w) u T u
1 T
J u Hu b T u f 0
2
H 2(G T G I)
b T 2(f w) T G
f 0 (f w) T (f w)
min J subject

to : u min u u max ,...


Quadratic Programming
- qpdantz
- linprog
-quadprog

Extended DMC

.

) n (t k | t ) n (t | t ) y m (t ) y (t | t

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