Generalized Predictive Control in the Presence of Constraints

摘要

Several predictive control strategies which handle physical system constraintshave been proposed in the literature. The difficulty with these approaches is that, in an attempt to optimize output tracking over a finite horizon and guarantee stability, they define an optimization problem which can be infeasible; in the case of systems with poles and/or zeros outside the unit circle, this can lead to instability. In this thesis we develop stability conditions which ensure the continuing existence of a stabilizing solution and propose improved algorithms which overcome finite horizon infeasibility of making the output reach its set-point within a finite horizon. Here, we propose two algorithms which