Abstract
This chapter is particularly devoted to sampled data systems, which need to be discretized in order to be able to solve the optimal control problem within the NMPC algorithm numerically. We present suitable methods, discuss the convergence theory for one step methods and give an introduction into step size control algorithms. Furthermore, we explain how these methods can be integrated into NMPC algorithms, investigate how the numerical errors affect the stability of the NMPC controller derived from the numerical model and show which kind of robustness is needed in order to ensure a practical kind of stability.
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Grüne, L., Pannek, J. (2011). Numerical Discretization. In: Nonlinear Model Predictive Control. Communications and Control Engineering. Springer, London. https://doi.org/10.1007/978-0-85729-501-9_9
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DOI: https://doi.org/10.1007/978-0-85729-501-9_9
Publisher Name: Springer, London
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