Abstract
The potential use of upcoming measureme has motivated research on preview control to improve set-point tracking and disturbance rejection beyond that achievable via conventional feedback control. Such preview controllers, typically based upon model predictive control (MPC) for its constraint handling properties, could potentially introduce an additional feedback loop that therefore alters the closed-loop dynamics of the existing feedback compensator. This can result in a deterioration of the nominal robustness properties (The robustness property here implies the robust stability margin, that is a generalisation of the gain and phase margins for multi-input-multi-output systems.) and performance of the existing closed-loop. Therefore, the aim of this chapter is to formulate a modular MPC layer on top of a given output-feedback controller, with a view to retaining the nominal closed-loop robustness and frequency-domain properties of the latter. And a key result is derived that proves that the proposed modular MPC layer for handling the advance knowledge impacts upon the existing closed-loop system if and only if constraint violations are expected. The separable nature of the proposed control structure enables clear and transparent quantification of the benefits gained by using preview control and constraint handling, beyond that of the underlying feedback compensator.
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Notes
- 1.
The robustness property here implies the robust stability margin, that is a generalisation of the gain and phase margins for multi-input-multi-output systems.
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Lio, W. (2018). Feed-Forward Model Predictive Control Design Based upon a Feedback Controller. In: Blade-Pitch Control for Wind Turbine Load Reductions. Springer Theses. Springer, Cham. https://doi.org/10.1007/978-3-319-75532-8_6
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