In the paper, we discuss how to design a predictive controller capable of addressing a number of important issues ranging from nominal stability to the model identification/controller design interplay. Nominal stability is ensured by resorting to Constrained Receding Horizon Predictive Control. As for robust stability, the connections between the frequency weighting P-polynomial in the cost function and the achievable robustness against multiplicative uncertainty are investigated. ; Then, a two-step design procedure is proposed in order to enhance the closed-loop robustness and obtain nominal performances. A correlation technique is also proposed as a tool to estimate uncertainty bounds to be used in controller design. Finally, the control and identification procedures are put together to form an iterative identification/control design methodology. A simulation example is reported to illustrate the approach.
Jan 22, 2021
Jan 19, 2021
|Some issues in the design of predictive controllers||Jan 22, 2021|
Kowalczuk, Zdzisław Suchomski, Piotr Korbicz, Józef - red. Uciński, Dariusz - red.
Haber, Robert Bars, Ruth Lengyel, Orsolya Kowalczuk, Zdzisław - red.
Balluchi, Andrea Bicchi, Antonio Korbicz, Józef - red. Uciński, Dariusz - red.
Petersen, Ian R. Korbicz, Józef - red. Uciński, Dariusz - red.
Yoon, Tae-Woong Yang, Dae Ryook Lee, Kwang Soon Kwon, Young-Min Kowalczuk, Zdzisław - red.
Van Den Boom, Ton J.J. De Vries, Rob A.J. Kowalczuk, Zdzisław - red.
Ławryńczuk, Maciej Tatjewski, Piotr Korbicz, Józef - red. Uciński, Dariusz - red.
Błachuta, Marian J. Kowalczuk, Zdzisław - red.