Nonlinear Model Predictive Control Theory and Algorithms
This book offers readers a thorough and rigorous introduction to nonlinear model predictive control (NMPC) for discrete-time and sampled-data systems. NMPC schemes with and without stabilizing terminal constraints are detailed, and intuitive examples illu
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Lars Grüne Jürgen Pannek
Nonlinear Model Predictive Control Theory and Algorithms Second Edition
Communications and Control Engineering Series editors Alberto Isidori, Roma, Italy Jan H. van Schuppen, Amsterdam, The Netherlands Eduardo D. Sontag, Piscataway, USA Miroslav Krstic, La Jolla, USA
More information about this series at http://www.springer.com/series/61
Lars Grüne Jürgen Pannek •
Nonlinear Model Predictive Control Theory and Algorithms Second Edition
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Lars Grüne Mathematisches Institut Universität Bayreuth Bayreuth Germany
Jürgen Pannek Bremer Institut für Produktion und Logistik (BIBA) Universität Bremen Bremen Germany
Additional material to this book can be downloaded from http://extras.springer.com. MATLAB® and Simulink® are registered trademarks of The MathWorks, Inc., 3 Apple Hill Drive, Natick, MA 01760-2098, USA, http://www.mathworks.com. MAPLE™ is a trademark of Waterloo Maple Inc., 615 Kumpf Drive, Waterloo, ON Canada, N2V 1K8, http://www.maplesoft.com. ISSN 0178-5354 ISSN 2197-7119 (electronic) Communications and Control Engineering ISBN 978-3-319-46023-9 ISBN 978-3-319-46024-6 (eBook) DOI 10.1007/978-3-319-46024-6 Library of Congress Control Number: 2016950897 Mathematics Subject Classification (2010): 93-02, 92C10, 93D15, 49M37 © Springer International Publishing Switzerland 2011, 2017 This work is subject to copyright. All rights are reserved by the Publisher, whether the whole or part of the material is concerned, specifically the rights of translation, reprinting, reuse of illustrations, recitation, broadcasting, reproduction on microfilms or in any other physical way, and transmission or information storage and retrieval, electronic adaptation, computer software, or by similar or dissimilar methodology now known or hereafter developed. The use of general descriptive names, registered names, trademarks, service marks, etc. in this publication does not imply, even in the absence of a specific statement, that such names are exempt from the relevant protective laws and regulations and therefore free for general use. The publisher, the authors and the editors are safe to assume that the advice and information in this book are believed to be true and accurate at the date of publication. Neither the publisher nor the authors or the editors give a warranty, express or implied, with respect to the material contained herein or for any errors or omissions that may have been made. Printed on acid-free paper This Springer imprint is published by Springer Nature The registered company is Springer International Publishing AG The registered company address is: Gewerbestrasse 11, 6330 Cham, Switzerland
For Brigitte, Florian and Carla LG For Sabina, Alina, Laura and Timo JP
Preface to the Second Edition
The continuing research activities in the field of Nonlinear Model Predictive Control have resulted in various new developments which were not represented in the first edition of this book. Five years after its publication we therefore proposed to write a second, significantly updated edition a
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