Explicit nonlinear model predictive control: theory and applications
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| Main Authors: | , |
|---|---|
| Format: | Book |
| Language: | English |
| Published: |
Berlin [u.a.]
Springer
2012
|
| Series: | Lecture notes in control and information sciences
429 |
| Subjects: | |
| Online Access: | Inhaltstext Inhaltsverzeichnis |
| Physical Description: | XIV, 234 S. graph. Darst. 235 mm x 155 mm |
| ISBN: | 3642287794 9783642287794 |
Staff View
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IMAGE 1
CONTENTS
1 MULTI-PARAMETRIC PROGRAMMING 1
1.1 MULTI-PARAMETRIC NONLINEAR PROGRAMMING 1
1.1.1 PROBLEM FORMULATION 2
1.1.2 OPTIMALITY CONDITIONS 3
1.1.3 NONLINEAR PROGRAMMING METHODS 4
1.1.4 SENSITIVITY RESULTS 11
1.1.5 ALGORITHMS FOR APPROXIMATE MULTI-PARAMETRIC NONLINEAR PROGRAMMING
12
1.2 CONVEX MULTI-PARAMETRIC QUADRATIC PROGRAMMING 2 4
1.2.1 PROBLEM FORMULATION 2 4
1.2.2 OPTIMALITY CONDITIONS 25
1.2.3 ALGORITHMS FOR EXACT CONVEX MULTI-PARAMETRIC QUADRATIC PROGRAMMING
2 7
1.2.4 REMARKS ON ALTERNATIVE M P - Q P ALGORITHMS 31
1.3 EVALUATING PIECEWISE FUNCTIONS 3 2
REFERENCES 3 4
2 NONLINEAR MODEL PREDICTIVE CONTROL 3 9
2.1 INTRODUCTION 3 9
2.2 N M P C OPTIMIZATION PROBLEM FORMULATION 41
2.2.1 CONTINUOUS-TIME MODEL, DISCRETIZATION AND FINITE PARAMETERIZATION
41
2.2.2 NUMERICAL OPTIMAL CONTROL 4 4
2.2.3 TUNING AND STABILITY 4 9
2.2.4 EXTENSIONS AND VARIATIONS O F THE PROBLEM FORMULATION . . . . 5 3
2.3 NUMERICAL OPTIMIZATION 5 7
2.3.1 PROBLEM STRUCTURE 5 7
2.3.2 COMPUTATION O F JACOBIAN AND HESSIAN MATRICES 6 0
2.4 MOTIVATION FOR EXPLICIT NONLINEAR MODEL PREDICTIVE CONTROL 61
REFERENCES 6 3
HTTP://D-NB.INFO/1019901608
IMAGE 2
X I I C O N T E N T S
3 EXPLICIT N M P C USING M P - Q P APPROXIMATIONS O F M P - N L P 71
3.1 INTRODUCTION 71
3.2 LOCAL M P - Q P APPROXIMATION TO M P - N L P 7 3
3.3 CONVEXITY 7 6
3.4 ALGORITHM 7 6
3.5 EXAMPLE: COMPRESSOR SURGE CONTROL 7 7
3.5.1 N M P C FORMULATION 7 7
3.5.2 TUNING AND SETTINGS 7 9
3.5.3 RESULTS 7 9
REFERENCES 84
4 EXPLICIT N M P C VIA APPROXIMATE M P - N L P 87
4.1 INTRODUCTION 87
4.2 FORMULATION O F THE N M P C PROBLEM AS AN M P - N L P PROBLEM 8 8
4.3 STABILITY O F REGULATION N M P C 9 0
4.4 APPLICATION 1: COMPRESSOR SURGE REGULATION 9 3
4.5 APPLICATION 2: REFERENCE TRACKING CONTROL O F AN ELECTROPNEUMATIC
CLUTCH ACTUATOR USING ON/OFF VALVES AND PULSE-WIDTH MODULATION 9 7
4.5.1 MATHEMATICAL MODEL O F THE CLUTCH ACTUATOR DYNAMICS . . . . 9 8
4.5.2 DESIGN AND PERFORMANCE O F EXPLICIT REFERENCE TRACKING CONTROLLER
WITH CONTINUOUS CONTROL INPUT 103
4.6 TIME-OPTIMAL DIVER DECOMPRESSION 108
REFERENCES 108
5 EXPLICIT M P C O F CONSTRAINED NONLINEAR SYSTEMS WITH QUANTIZED INPUTS
I L L
5.1 INTRODUCTION I L L
5.2 FORMULATION O F THE QUANTIZED N M P C PROBLEM AS AN M P - N I P
PROBLEM 112
5.3 APPROXIMATE MP-NIP APPROACH TO EXPLICIT QUANTIZED N M P C . . . .
114 5.3.1 COMPUTATION O F EXPLICIT APPROXIMATE SOLUTION 114
5.3.2 ESTIMATION O F ERROR BOUNDS 115
5.3.3 APPROXIMATE M P - N I P ALGORITHM 115
5.4 APPLICATION 1: REFERENCE TRACKING QUANTIZED CONTROL O F AN
ELECTROPNEUMATIC CLUTCH ACTUATOR USING ON/OFF VALVES 116
5.4.1 DESIGN O F EXPLICIT N M P C WITH QUANTIZED CONTROL I N P U T / .
117
5.4.2 COMPARISON BETWEEN THE EXPLICIT N M P C WITH QUANTIZED CONTROL
INPUT AND THE EXPLICIT N M P C WITH CONTINUOUS CONTROL INPUT 118
5.5 APPLICATION 2: REGULATION O F A CONTINUOUS STIRRED TANK REACTOR WITH
QUANTIZED CONTROL INPUT 120
REFERENCES 125
IMAGE 3
C O N T E N T S X I I I
6 EXPLICIT MIN-MAX M P C O F CONSTRAINED NONLINEAR SYSTEMS WITH
BOUNDED UNCERTAINTIES 127
6.1 INTRODUCTION 127
6.2 EXPLICIT OPEN-LOOP MIN-MAX M P C O F CONSTRAINED NONLINEAR SYSTEMS
WITH BOUNDED UNCERTAINTIES 128
6.2.1 FORMULATION O F THE OPEN-LOOP MIN-MAX N M P C PROBLEM AS AN M P -
N L P PROBLEM 129
6.2.2 APPROXIMATE M P - N L P APPROACH TO EXPLICIT O P E N - L O O P
MIN-MAX N M P C 130
6.2.3 APPLICATION 1: MIN-MAX M P C O F A CONTINUOUS STIRRED TANK REACTOR
131
6.3 EXPLICIT CLOSED-LOOP MIN-MAX M P C O F CONSTRAINED NONLINEAR SYSTEMS
WITH BOUNDED UNCERTAINTIES 134
6.3.1 FORMULATION O F THE CLOSED-LOOP M I N - M A X N M P C PROBLEM AS
AN M P - N L P PROBLEM 134
6.3.2 APPROXIMATE M P - N L P APPROACH TO EXPLICIT CLOSED-LOOP MIN-MAX N
M P C 138
6.3.3 STABILITY 144
6.3.4 APPLICATION 2: MIN-MAX M P C O F CART AND SPRING SYSTEM 148
REFERENCES 154
7 EXPLICIT STOCHASTIC N M P C 1 57
7.1 INTRODUCTION 157
7.2 EXPLICIT STOCHASTIC N M P C BASED ON PARAMETRIC PROBABILISTIC MODELS
158
7.2.1 FORMULATION O F THE FEEDBACK STOCHASTIC N M P C PROBLEM AS AN M P
- N L P PROBLEM 159
7.2.2 APPROXIMATE M P - N L P APPROACH TO EXPLICIT FEEDBACK STOCHASTIC N
M P C 163
7.2.3 APPLICATION 1: STOCHASTIC M P C O F THE CART AND SPRING SYSTEM 164
7.3 EXPLICIT STOCHASTIC N M P C BASED ON GAUSSIAN PROCESS M O D E L S .
. . . 169 7.3.1 MODELING O F DYNAMIC SYSTEMS WITH GAUSSIAN PROCESSES 169
7.3.2 FORMULATION O F THE STOCHASTIC G P - N M P C PROBLEM AS AN M P - N
L P PROBLEM 171
7.3.3 APPLICATION 2: REFERENCE TRACKING CONTROL O F A COMBUSTION PLANT
173
REFERENCES 183
8 EXPLICIT N M P C BASED O N NEURAL NETWORK MODELS 1 87
8.1 INTRODUCTION 187
8.2 FORMULATION O F THE N N - N M P C PROBLEM AS AN M P - N L P PROBLEM
188
IMAGE 4
X I V
C O N T E N T S
8.2.1 MODELING O F DYNAMIC SYSTEMS WITH NEURAL NETWORKS . . . . 188
8.2.2 FORMULATION O F THE N N - N M P C PROBLEM 189
8.3 APPROXIMATE M P - N L P APPROACH TO EXPLICIT N N - N M P C 191
8.4 DESIGN O F EXPLICIT DUAL-MODE CONTROLLER 192
8.4.1 DESIGN O F L Q R WITH INTEGRAL ACTION IN A NEIGHBORHOOD O F THE
EQUILIBRIUM 193
8.4.2 EXPLICIT DUAL-MODE CONTROLLER 195
8.5 APPLICATION: REGULATION O F A P H MAINTAINING SYSTEM 196
8.5.1 T H E P H MAINTAINING SYSTEM 197
8.5.2 A R X MODEL IDENTIFICATION 199
8.5.3 DESIGN O F EXPLICIT DUAL-MODE CONTROLLER 2 0 0
REFERENCES 2 0 6
9 SEMI-EXPLICIT DISTRIBUTED N M P C 2 0 9
9.1 INTRODUCTION 2 0 9
9.2 FORMULATION O F N M P C PROBLEM FOR INTERCONNECTED SYSTEMS 2 1 0
9.3 DISTRIBUTED N M P C FOR INTERCONNECTED NONLINEAR SYSTEMS WITH LINEAR
COUPLINGS 2 1 2
9.3.1 DISTRIBUTED N M P C BY DUAL DECOMPOSITION . 2 1 2
9.3.2 LOCAL Q P APPROXIMATIONS O F THE N L P SUB-PROBLEMS 2 1 4
9.3.3 A SUBOPTIMAL APPROACH TO DISTRIBUTED N M P C BASED ON ON-LINE
OPTIMIZATION 2 1 7
9.4 A SEMI-EXPLICIT APPROACH TO EFFICIENT DISTRIBUTED N M P C FOR
INTERCONNECTED SYSTEMS WITH LINEAR COUPLINGS 2 1 8
9.4.1 FORMULATION O F THE DISTRIBUTED N M P C PROBLEM AS AN M P - N L P
PROBLEM 2 1 9
9.4.2 APPROXIMATE M P - N L P APPROACH TO SEMI-EXPLICIT DISTRIBUTED N M
P C 2 1 9
9.5 APPLICATION: DISTRIBUTED N M P C O F A NONLINEAR SYSTEM CONSISTING O
F TWO SUB-SYSTEMS 221
9.5.1 RESULTS WITH THE DISTRIBUTED N M P C BASED ON ON-LINE OPTIMIZATION
221
9.5.2 RESULTS WITH THE SEMI-EXPLICIT DISTRIBUTED N M P C 2 2 3
REFERENCES 2 3 0
INDEX 2 3 3 |
| any_adam_object | 1 |
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| indexdate | 2024-07-21T00:33:08Z |
| institution | BVB |
| isbn | 3642287794 9783642287794 |
| language | English |
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| physical | XIV, 234 S. graph. Darst. 235 mm x 155 mm |
| publishDate | 2012 |
| publishDateSearch | 2012 |
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| series | Lecture notes in control and information sciences |
| series2 | Lecture notes in control and information sciences |
| spelling | Grancharova, Alexandra Verfasser aut Explicit nonlinear model predictive control theory and applications Alexandra Grancharova and Tor Arne Johansen Berlin [u.a.] Springer 2012 XIV, 234 S. graph. Darst. 235 mm x 155 mm txt rdacontent n rdamedia nc rdacarrier Lecture notes in control and information sciences 429 Parametrische Optimierung (DE-588)4044615-3 gnd rswk-swf Nichtlineare Optimierung (DE-588)4128192-5 gnd rswk-swf Prädiktive Regelung (DE-588)4271836-3 gnd rswk-swf Nichtlineares Regelungssystem (DE-588)4276212-1 gnd rswk-swf Prädiktive Regelung (DE-588)4271836-3 s Nichtlineares Regelungssystem (DE-588)4276212-1 s Parametrische Optimierung (DE-588)4044615-3 s Nichtlineare Optimierung (DE-588)4128192-5 s DE-604 Johansen, Tor Arne Verfasser aut Erscheint auch als Online-Ausgabe 978-3-642-28780-0 Lecture notes in control and information sciences 429 (DE-604)BV005848579 429 X:MVB text/html http://deposit.dnb.de/cgi-bin/dokserv?id=3981412&prov=M&dok_var=1&dok_ext=htm Inhaltstext DNB Datenaustausch application/pdf http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=025001981&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA Inhaltsverzeichnis |
| spellingShingle | Grancharova, Alexandra Johansen, Tor Arne Explicit nonlinear model predictive control theory and applications Lecture notes in control and information sciences Parametrische Optimierung (DE-588)4044615-3 gnd Nichtlineare Optimierung (DE-588)4128192-5 gnd Prädiktive Regelung (DE-588)4271836-3 gnd Nichtlineares Regelungssystem (DE-588)4276212-1 gnd |
| subject_GND | (DE-588)4044615-3 (DE-588)4128192-5 (DE-588)4271836-3 (DE-588)4276212-1 |
| title | Explicit nonlinear model predictive control theory and applications |
| title_auth | Explicit nonlinear model predictive control theory and applications |
| title_exact_search | Explicit nonlinear model predictive control theory and applications |
| title_full | Explicit nonlinear model predictive control theory and applications Alexandra Grancharova and Tor Arne Johansen |
| title_fullStr | Explicit nonlinear model predictive control theory and applications Alexandra Grancharova and Tor Arne Johansen |
| title_full_unstemmed | Explicit nonlinear model predictive control theory and applications Alexandra Grancharova and Tor Arne Johansen |
| title_short | Explicit nonlinear model predictive control |
| title_sort | explicit nonlinear model predictive control theory and applications |
| title_sub | theory and applications |
| topic | Parametrische Optimierung (DE-588)4044615-3 gnd Nichtlineare Optimierung (DE-588)4128192-5 gnd Prädiktive Regelung (DE-588)4271836-3 gnd Nichtlineares Regelungssystem (DE-588)4276212-1 gnd |
| topic_facet | Parametrische Optimierung Nichtlineare Optimierung Prädiktive Regelung Nichtlineares Regelungssystem |
| url | http://deposit.dnb.de/cgi-bin/dokserv?id=3981412&prov=M&dok_var=1&dok_ext=htm http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=025001981&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA |
| volume_link | (DE-604)BV005848579 |
| work_keys_str_mv | AT grancharovaalexandra explicitnonlinearmodelpredictivecontroltheoryandapplications AT johansentorarne explicitnonlinearmodelpredictivecontroltheoryandapplications |