Robust Predictive Control Based on Neighboring Extremals

摘要: The performance of predictive controller is typically poor when the true plant evolution deviates significantly from that predicted by model. A robust approach considers model uncertainty explicitly then needed. However, it often difficult to find a single input profile works for range considered. Thus, multiple profiles, i.e. one each realization uncertainty, need be determined, which computationally extremely expensive. This paper proposes an alternative approach, based on neighboring extremals, where profiles are computed using simple feedback law, thereby reducing considerably computational burden. idea illustrated via simulation continuous stirred tank reactor and inverted pendulum cart.