Model predictive control of a system with continuous and discrete motion elements

摘要

PROBLEM TO BE SOLVED: To provide a controller for controlling a system having a continuous operation element and a discrete operation element. A controller 110 accepts a measured value 121 of the current state of the system, solves a mixed integer model predictive control (MI-MPC) problem according to state constraints on the state of the system, and generates control inputs 111 to the system. , Change the state of the system by presenting the control input to the system. To solve the MI-MPC, the controller makes sure that any combination of control input values that results in a set of state variables that satisfy the state constraint 104 also satisfies the state-invariant control constraint on the control input to the system. , The state constraint is converted into a state-invariant control constraint, and the MI-MPC problem is solved according to the state constraint and the state-invariant control constraint. [Selection diagram] Fig. 1