In this study, a linear model predictive control (MPC) approach with optimal filters is proposed for handling unmeasured disturbances with arbitrary statistics. Two types of optimal filters are introduced into the framework of MPC to relax the assumption of integrated white noise model in existing ...
//go:build (darwin || freebsd || netbsd || openbsd) && gc // +build darwin freebsd netbsd openbsd // +build gc Go 1.17 之前,我们可以通过在源码文件头部放置 +build 构建约束指示符来实现构建约束,但这种形式十分易错,并且它并不支持&&和||这样的直观的逻辑操作符,而是用逗号、空格替代,下面是原...
The offset-free \{ARX\} \{MPC\} demonstrates satisfactory set point tracking and rejection of an unmeasured step disturbance for a simulated furnace with a long time delay. 展开 关键词: Model Predictive Control Autoregressive models Disturbance modeling Controller tuning ...
Model predictive control (MPC) algorithms achieve offset-free control by augmenting the nominal system model with a disturbance model. The disturbance vector is used to predict the mismatch between the measured and predicted output vectors. In this paper, we consider an offset-free MPC framework tha...
特别地,由于MPC基于模型做预测,然后基于预测进行优化,如果扰动不能及时补偿,轻则控制品质下降,重则稳定性被破坏。 抵抗扰动有多种方法,其中网红方法是通过构建观测器对扰动进行观测进而加以补偿。这里我们也蹭一波热度,用一用大名鼎鼎的扩张状态观测器(ESO)来实现我们的offset free MPC。关于ESO的详细介绍,请阅读...
This paper presents an updated and comprehensive description of offset-free MPC algorithms for nonlinear (and linear) discrete-time systems, with the intended objectives of clarifying the main concepts, showing new results, highlighting subtleties by means of challenging applications. First, the offset-...
This work addresses the problem of offset-free Model Predictive Control (MPC) when tracking an asymptotically constant reference. In the first part, compact and intuitive conditions for offset-free MPC control are introduced by using the arguments of the internal model principle. In the second part...
The main goal of this work is to build an economic MPC algorithm that, combining the previous ideas of offset-free MPC and modifier-adaptation, achieves the ultimate optimal economic performance despite modeling errors and/or disturbances. In the proposed method, there is no RTO layer because ...
To reject the influence of torque loss, we implemented the offset-free MPC scheme with disturbance model and estimator. Moreover, to deal with the limited capacity assigned for the controller in the engine control unit and the short sampling interval of the engine system, we formulated a low-...
The model predictive control (MPC) technique optimizes the cost function of tracking errors by predicting the states, one or two-steps ahead, utilizing PMSM parameters [12,13]. The optimization procedure was conducted through an exhaustive search method for each control period, and the offset-...