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Title: Computation delay compensation for real time implementation of robust model predictive control
Authors: Su, Y.
Tan, K.K. 
Lee, T.H. 
Issue Date: 2012
Citation: Su, Y.,Tan, K.K.,Lee, T.H. (2012). Computation delay compensation for real time implementation of robust model predictive control. IEEE International Conference on Industrial Informatics (INDIN) : 242-247. ScholarBank@NUS Repository.
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 tailored for the proposed control scheme. The recursive feasibility and stability are rigorously analyzed. Simulation examples validate the proposed approaches. © 2012 IEEE.
Source Title: IEEE International Conference on Industrial Informatics (INDIN)
ISBN: 9781467303118
ISSN: 19354576
DOI: 10.1109/INDIN.2012.6301174
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