Please use this identifier to cite or link to this item: https://doi.org/10.1016/j.jprocont.2013.09.006
Title: Computation delay compensation for real time implementation of robust model predictive control
Authors: Su, Y.
Tan, K.K. 
Lee, T.H. 
Keywords: Computation delay compensation
Constrained control
MPC
Robust
Issue Date: 2013
Source: Su, Y., Tan, K.K., Lee, T.H. (2013). Computation delay compensation for real time implementation of robust model predictive control. Journal of Process Control 23 (9) : 1342-1349. ScholarBank@NUS Repository. https://doi.org/10.1016/j.jprocont.2013.09.006
Abstract: The implementation of model predictive control (MPC) requires to solve an optimization problem online. The computation time, often not negligible especially for nonlinear MPC (NMPC), introduces a delay in the feedback loop. Moreover, it impedes fast sampling rate setting for the controller to react to uncertainties quickly. In this paper, a dual time scale control scheme is proposed for linear/nonlinear systems with external disturbances. A pre-compensator works at fast sampling rate to suppress uncertainty, while the outer MPC controller updates the open loop input sequence at a slower rate. The computation delay is explicitly considered and compensated in the MPC design. Four robust MPC algorithms for linear/nonlinear systems in the literature are adopted and tailored for the proposed control scheme. The recursive feasibility and stability are rigorously analysed. Three simulation examples are provided to validate the proposed approaches. © 2013 Elsevier Ltd.
Source Title: Journal of Process Control
URI: http://scholarbank.nus.edu.sg/handle/10635/55378
ISSN: 09591524
DOI: 10.1016/j.jprocont.2013.09.006
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