| Description |
1 online resource (162 pages) |
| Contents |
Intro; 1 Introduction; 1.1 Motivation and Focus of the Thesis; 1.2 Outline and Contributions of the Thesis; 2 Background; 2.1 Model Predictive Control; 2.1.1 Basic Principle of Model Predictive Control; 2.1.2 Review on Model Predictive Control; 2.1.3 Stability in Model Predictive Control; 2.2 Time-Delay Systems; 2.2.1 Retarded Functional Differential Equations; 2.2.2 Stability; 2.2.3 Control of Nonlinear Time-Delay Systems; 2.3 Summary; 3 Model Predictive Control for Nonlinear Continuous-Time Systems; 3.1 Problem Setup; 3.2 Unconstrained MPC and Suboptimality Estimates |
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3.2.1 Unconstrained MPC Setup3.2.2 Asymptotic Stability and Suboptimality Estimate; 3.2.3 Special Case: Exponential Controllability; 3.2.4 Numerical Example; 3.2.5 Summary; 3.3 Unconstrained MPC with General Terminal Cost Functions; 3.3.1 Unconstrained MPC Setup with General Terminal Cost; 3.3.2 Asymptotic Stability; 3.3.3 Numerical Example; 3.3.4 Summary; 3.4 Unconstrained MPC with Exponential Weighting; 3.4.1 Unconstrained MPC Setup with Exponential Weighting; 3.4.2 Asymptotic Stability; 3.4.3 Numerical Example; 3.4.4 Summary; 3.5 A Unifying Framework using Integral Terminal Cost Terms |
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3.5.1 MPC Setup with Integral Terminal Cost3.5.2 Asymptotic Stability; 3.5.3 Connection to Previous Results and Special Cases; 3.5.4 Improved Stability Conditions; 3.5.5 Illustrative Example; 3.5.6 Summary; 3.6 MPC with Exponential Weighting and Terminal Constraints; 3.6.1 MPC Setup with Exponential Weighting and Terminal Constraints; 3.6.2 Asymptotic Stability; 3.6.3 Summary; 3.7 Summary; 4 Model Predictive Control for Nonlinear Time-Delay Systems; 4.1 Problem Setup; 4.2 MPC Setup with Terminal Constraints and Asymptotic Stability; 4.3 Calculation of the Terminal Region and Terminal Cost |
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4.3.1 General Linearization-based Design4.3.2 Combination of Lyapunov-Krasovskii and Lyapunov-Razumikhin; 4.3.3 Design by Lyapunov-Razumikhin Arguments; 4.3.4 Design with Lyapunov-Razumikhin and Exponential Weighting; 4.3.5 Comparison of Different Approaches; 4.4 Unconstrained MPC with Terminal Cost Functional; 4.4.1 MPC Setup; 4.4.2 Asymptotic Stability; 4.4.3 Summary; 4.5 Unconstrained MPC without Terminal Cost Functional; 4.5.1 MPC Setup; 4.5.2 Controllability Assumption and Implications; 4.5.3 Asymptotic Stability and Suboptimality Estimate; 4.5.4 Summary; 4.6 Numerical Examples |
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4.6.1 Simple Scalar Example4.6.2 Continuous Stirred Tank Reactor with Recycle Stream; 4.7 Summary; 5 Conclusions; 5.1 Summary and Discussion; 5.2 Outlook |
| Summary |
Annotation The objective of this thesis is the development of novel model predictive control (MPC) schemes for nonlinear continuous-time systems with and without time-delays in the states which guarantee asymptotic stability of the closed-loop. The most well-studied MPC approaches with guaranteed stability use a control Lyapunov function as terminal cost. Since the actual calculation of such a function can be difficult, it is desirable to replace this assumption by a less restrictive controllability assumption. For discrete-time systems, the latter assumption has been used in the literature for the stability analysis of so-called unconstrained MPC, i.e., MPC without terminal cost and terminal constraints. The contributions of this thesis are twofold. In the first part, we propose novel MPC schemes with guaranteed stability based on a controllability assumption, whereas we extend different MPC schemes with guaranteed stability to nonlinear time-delay systems in the second part. In the first part of this thesis, we derive explicit stability conditions on the prediction horizon as well as performance guarantees for unconstrained MPC. Starting from this result, we propose novel alternative MPC formulations based on combinations of the controllability assumption with terminal cost and terminal constraints. One of the main contributions is the development of a unifying MPC framework which allows to consider both MPC schemes with terminal cost and terminal constraints as well as unconstrained MPC as limit cases of our framework. In the second part of this thesis, we show that several MPC schemes with and without terminal constraints can be extended to nonlinear time-delay systems. Due to the infinite-dimensional nature of these systems, the problem is more involved and additional assumptions are required in the controller design. We investigate different MPC schemes with and without terminal constraints and/or terminal cost terms and derive novel stability conditions. Furthermore, we pay particular attention to the calculation of the involved control design parameters |
| Notes |
Print version record |
| Subject |
Predictive control.
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Time delay systems.
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Predictive control
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Time delay systems
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| Form |
Electronic book
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| ISBN |
9783832593629 |
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3832593624 |
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