Nonlinear Model Predictive Control
During the past decade model predictive control (MPC), also referred to as receding horizon control or moving horizon control, has become the preferred control strategy for quite a number of industrial processes. There have been many significant advances
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Series Editor Christopher I. Byrnes, Washington University
Nonlinear Model Predictive Control Frank Allgöwer Alex Zheng Editors
Springer Basel AG
Editors: Frank Allgöwer Institut für Systemtheorie technischer Prozesse Universität Stuttgart Pfaffenwaldring 9 70550 Stuttgart Germany
Alex Zheng Department of Chemical Engineering University of Massachusetts at Amherst 159 Goessmann Lab Amherst, MA 01003-3110 USA
1991 Mathematics Subject Classification 93-06, 49-06, 34-06; 34H05, 34K35 A CIP catalogue record for this book is available from the Library of Congress, Washington D.C, USA Deutsche Bibliothek Cataloging-in-Publication Data Nonlinear model predictive control / Frank Allgöwer; Alex Zheng, ed.. - Basel; Boston ; Berlin; Birkhäuser, 2000 (Progress in systems and control theory ; Vol. 26) ISBN 978-3-0348-9554-5 ISBN 978-3-0348-8407-5 (eBook) DOI 10.1007/978-3-0348-8407-5
ISBN 978-3-0348-9554-5 This work is subject to copyright. All rights are reserved, whether the whole or part of the material is concerned, specifically the rights of translation, reprinting, re-use of illustrations, broadcasting, reproduction on microfilms or in other ways, and storage in data banks. For any kind of use whatsoever, permissionfromthe copyright owner must be obtained. © 2000 Springer Basel A G Originally published by Birkhäuser Verlag in 2000 Softcover reprint of the hardcover 1st edition 2000 Printed on acid-free paper produced of chlorine-free pulp. TCF °° ISBN 978-3-0348-9554-5
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Contents Preface
ix
Part I Theoretical Issues in Nonlinear Predictive Control G. De Nicolao, L. Magi and R. Scattolini Stability and Robustness of Nonlinear Receding Horizon Control
3
David Mayne Nonlinear Model Predictive Control: Challenges and Opportunities
23
Christopher V. Rao and James B. Rawlings Nonlinear Horizon State Estimation
45
Alberto Bemporad, Manfred Morari Predictive Control of Constrained Hybrid Systems
71
Basil Kouvaritakis, Mark Cannon and J. Anthony Rossiter Stability, Feasibility, Optimality and the Degrees of Freedom in Constrained Predictive Control
99
David Angeli, Alessandro Casavola and Edoardo Mosca A Predictive Command Governor for Nonlinear Systems under Constraints
115
Alex Zheng Some Practical Issues and Possible Solutions for Nonlinear Model Predictive Control
129
Rolf Findeisen and Frank Allgower Nonlinear Model Predictive Control for Index-one DAE Systems
145
Masoud Soroush and Kenne'th R. Muske Analytical Predictive Control
163
J.M. Lemos, L.M. Rato and E. Mosca Integrating Predictive and Switching Control: Basic Concepts and an Experimental Case Study
181
vi
Contents
J.D. Trierweiler and A.R. Secchi Exploring the Potentiality of Using Multiple Model Approach in Nonlinear Model Predictive Control
191
Mark Cannon and Basil Kouvaritakis Continuous-time Predictive Control of Constrained Nonlinear Systems
205
Part II Modelling and Computational Aspects in Nonlinear Predictive Control Lorenz T. Biegler Efficient Solution of Dynamic Optimization and NMPC Problems
219
H. G. B
