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,请阅读韩京清...
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-...
compact and intuitive conditions for offset-free MPC control are introduced by using the arguments of the internal model principle. In the second part, we study the case where the number of measured variables is larger than the number
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 ...
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-...
This paper presents the schemes of nonlinear offset-free model predictive control (MPC) for reference tracking of ship dynamic positioning (DP) systems, in the presence of slow-varying stochastic disturbances and input constraints. Two offset-free MPC strategies for nonlinear DP systems are proposed....
We present the first general stability results for nonlinear offset-free model predictive control (MPC). Despite over twenty years of active research, the offset-free MPC literature has not shaken the assumption of closed-loop stability for establishing offset-free performance. In this paper, we pr...
This work addresses the problem of offset-free model predictive control (MPC) when tracking a constant reference. It builds on the work in (G. Pannocchia, 2003), (G. Pannocchia, et al., 2002) and summarizes in a compact and intuitive manner the conditions that need to be satisfied to...
In this section, a robust economic MPC controller is designed. Firstly, we make the following assumption to the error between the real system and the estimates: Assumption 5 The initial augmented observer state zˆ0a is provided, such that the true transformed system state z0 and disturbance ...
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 ...