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|Title:||Unconstrained NMPC based on a class of Wiener models : a closed form solution|
|Citation:||NONLINEAR MODEL PREDICTIVE CONTROL: TOWARDS NEW CHALLENGING APPLICATIONS,384,481-490|
|Abstract:||In this work, we obtain a closed form solution to a nonlinear model predictive control problem when the controller is developed using a class of black-box Wiener type model. The linear dynamic component of the Wiener model parameterized using orthonormal basis filters. The nonlinear state to output map is constructed using quadratic polynomials. The resulting nonlinear state space model is then used to formulate unconstrained lied NMPC problem. A closed form solution to this problem is constructed analytically using the theory of solutions of quadratic operator polynomials. The efficacy of the proposed quadratic control law is demonstrated by conducting servo control studies at a singular operating point on a benchmark experimental setup.|
|Appears in Collections:||Proceedings papers|
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