A Globally Valid Continuous-Time GPC Through Successive System Linearisations

[Eric Ronco]

Dear connexionnists,

This is to let you know of the existance of a new technical report in
the on-line data base of sydney univesrity:

http://merlot.ee.usyd.edu.au/tech_rep

TITLE: A Globally Valid Continuous-Time GPC Through Successive System Linearisations

Authors: Eric Ronco, Taner Arsan, Peter J. Gawthrop and David J. Hill

Keywords: Predictive control; Global control; Non-linear system;
Off-equilibrium system linearisation

Abstract:

In a Model Based Predictive Controller (MBPC) an optimal set of
control signals over a defined time period is determined by predicting
the future system behaviour and minimising a non-linear cost
function. The significant amount of computations involved in a
non-linear function optimisation often precludes fast control
actions. A successive off-equilibrium system linearisation approach is
proposed here to enhance fast control action in a state space
""Continuous-time Generalised Predictive Controller'' (CGPC). This
idea is also extended to achieve non-linear observations of the system
states. It is shown from simulations of an inverted pendulum on a cart
that this strategy is much more effective than a non-linear CGPC in
terms of control system analisys, control quality, computation demand
and noise robustness.

bye

Eric
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Eric Ronco, PhD                    Tel: +61 2 9351 7680
Dt of Electrical Engineering       Fax: +61 2 9351 5132
Bldg J13, Sydney University        Email: ericr at ee.usyd.edu.au
NSW 2006, Australia                http://www.ee.usyd.edu.au/~ericr
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