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Designing MPC controllers by reverse-engineering existing LTI controllers

Hartley, EN and Maciejowski, JM (2011) Designing MPC controllers by reverse-engineering existing LTI controllers. (Unpublished)

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This technical report presents a method for designing a constrained output-feedback model predictive controller (MPC) that behaves in the same way as an existing baseline stabilising linear time invariant output-feedback controller when constraints are inactive. The baseline controller is cast into an observer-compensator form and an inverse-optimal cost function is used as the basis of the MPC controller. The available degrees of design freedom are explored, and some guidelines provided for the selection of an appropriate observer-compensator realisation that will best allow exploitation of the constraint-handling and redundancy management capabilities of MPC. Consideration is given to output setpoint tracking, and the method is demonstrated with three different multivariable plants of varying complexity.

Item Type: Article
Uncontrolled Keywords: math.OC math.OC cs.SY 93C83
Divisions: Div F > Control
Depositing User: Unnamed user with email
Date Deposited: 16 Jul 2015 14:16
Last Modified: 13 Oct 2015 21:38