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Reverse engineered MPC for tracking with systems that become uncertain

Hartley, EN and Maciejowski, JM (2014) Reverse engineered MPC for tracking with systems that become uncertain. In: UNSPECIFIED pp. 109-114..

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A constrained model predictive control technique for tracking is proposed for systems whose models become uncertain (for example after a sensor failure). A linear time invariant robust controller with integral action is used as a baseline and 'reverse engineered' into the form of a reduced order observer, steady state target calculator and control gain, based on a nominal model, augmented with integrating disturbance states. Constraints are enforced by optimising over perturbations to the nominal control action. Clean transition between a nominal, high performance mode of operation when parameters are known, to a safe and recursively feasible robust mode when parameters are unknown can be facilitated by using the same steady state target in both cases.

Item Type: Conference or Workshop Item (UNSPECIFIED)
Divisions: Div F > Control
Depositing User: Cron Job
Date Deposited: 17 Jul 2017 19:42
Last Modified: 26 Aug 2021 07:08
DOI: 10.1109/ECC.2014.6862408