Predictive control with added feedback for fast nonlinear systems
作者： E. Ronco , B. Srinivasan , J. Y. Favez , D. Bonvin
DOI: 10.23919/ECC.2001.7076419
关键词:
摘要: A major difficulty arises in predictive control when the prediction of system evolution becomes unreliable due to presence uncertainty. This problem is particularly important for fast nonlinear systems since significant divergence can occur during time required optimization. As a solution this problem, addition linear state feedback controller regulating error proposed. Using neighbouring extremal theory, it shown that combination first-order approximation an infinitely-fast receding horizon controller. The effectiveness methodology illustrated via simulation on inverted pendulum.
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