Sankaranarayanan Subramanian

Tube-enhanced Multi-stage Model Predictive Control

Robust State and Output Feedback Control


Front	Back

ISBN:

978-3-8440-7904-3

Series:

Schriftenreihe des Lehrstuhls für Systemdynamik und Prozessführung
Herausgeber: Prof. Dr.-Ing. Sebastian Engell
Dortmund

Volume:

2021,1

Keywords:

Predictive control; robust control; control of constrained systems; output feedback control; process control

Type of publication:

Thesis

Language:

English

Pages:

322 pages

Figures:

57 figures

Weight:

479 g

Format:

21 x 14,8 cm

Binding:

Paperback

Price:

49,80 € / 62,30 SFr

Published:

March 2021

Buy:

DOI:

10.2370/9783844079043 (Online document)

Download:

Available PDF-Files for this title:

You need the Adobe Reader, to open the files. Here you get help and information, for the download.

These files are not printable.


	Document		Document
	Type		PDF
	Costs		37,35 EUR
	Action		Purchase in obligation and display of file - 8,6 MB (9047401 Byte)
	Action		Purchase in obligation and download of file - 8,6 MB (9047401 Byte)


	Document		Table of contents
	Type		PDF
	Costs		free
	Action		Display of file - 210 kB (215476 Byte)
	Action		Download of file - 210 kB (215476 Byte)

User settings for registered users

You can change your address here or download your paid documents again.

User:	Not logged in.
Actions:	Login / Register Forgotten your password?

Recommendation:

You want to recommend this title?

Review copy:

Here you can order a review copy.

Link:

You want to link this page? Click here.

Export citations:

Text
BibTex
RIS

Abstract:

The principal theme of the thesis is addressing the challenge of the trade-off between optimality and complexity in the field of robust Model Predictive Control (MPC). Different robust MPC formulations are proposed that guarantee rigorous constraint satisfaction, recursive feasibility, and robust asymptotic stability for linear and nonlinear systems with additive and parametric uncertainties under standard assumptions. For linear systems with full-state feedback, a basic formulation and an advanced formulation of Tube-Enhanced Multi-Stage (TEMS) MPC are presented. The basic formulation avoids the problem of growth in problem complexity concerning less significant uncertainties by computing a constant feedback law offline and improves the performance of the controller by calculating a sequence of control policies for significant uncertainties modeled on a scenario-tree. The advanced formulation provides users with additional options to limit the rapid growth of problem complexity beyond a certain prediction step called robust horizon with the help of affine feedback policies. It results in a linear increase in problem complexity with respect to the prediction horizon beyond the robust horizon. For nonlinear systems, the proposed TEMS Nonlinear MPC (NMPC) scheme implements two multi-stage controllers hierarchically to achieve robustness against uncertainties. Novel robust output feedback formulations are proposed that can work with any estimation scheme that can provide an estimate along with an error bound. The concept of substitute estimates is introduced to obtain control policies for the linear output feedback case using the multi-stage, the tube-based, and the TEMS MPC schemes. The advantages of the proposed schemes are demonstrated using two case studies.