CONTROL OF NONLINEAR SYSTEMS SUBJECT TO INPUT CONSTRAINTS
作者： Simone L. de Oliveira , Vesna Nevistić , Manfred Morari
DOI: 10.1016/S1474-6670(17)46798-X
关键词: Robust control 、 Control theory 、 Quadratic programming 、 Linearization 、 Mathematics 、 Optimization problem 、 Feedback linearization 、 Nonlinear system 、 Mathematical optimization 、 Control theory 、 Model predictive control
摘要: Abstract Two different approaches are investigated: (1) Model Predictive Control (MPC) utilizing a linear model resulting from local linearization of the plant at each time step; and (2) Feedback Linearization (FL) with MPC in an outer loop to avoid constraint violations by linearizing controller. In latter case constraints generally nonlinear optimization problem must be solved iterative manner. These two techniques compared terms their stability properties, on-line effort relative performance on practically motivated test examples.
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