Nonlinearity and Time-Delay Compensations in State-Space Model Based Predictive Control
In this paper a promising series of modifications of predictive control has been combined in order to extend the functionality of principles of predictive control via linearization. Based on this approach a linear model predictive controller is designed at each point to achieve desired local stability and performance requirements leading to guaranteed functionality through the whole operating range of a nonlinear system. In addition, a compensating technique has been applied in order to deal with the system dynamic burdened with a delayed control input. The improved predictive controller has been implemented and applied on illustrative examples of tank system.
KeywordsModel predictive control Time-delay Nonlinear system
This article was created with support of the Ministry of Education of the Czech Republic under grant IGA reg. n. IGA/FAI/2016/006.
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