key words: model predictive control, optimization, constrained control
Model Predictive Control System Design and Implementation Using MATLAB
By Liuping Wang, Springer 2009.
http://www.springer.com/engineering/robotics/book/9781848823303
Contents
1 Discretetime MPC for Beginners
1.1 Introduction
1.2 Statespace Models with Embedded Integrator
1.3 Predictive Control within One Optimization Window
1.4 Receding Horizon Control
1.5 Predictive Control of MIMO Systems
1.6 State Estimation
1.7 State Estimate Predictive Control
1.8 Summary
Problems
2 Discretetime MPC with Constraints
2.1 Introduction
2.2 Motivational Examples
2.3 Formulation of Constrained Control Problems
2.4 Numerical Solutions Using Quadratic Programming
2.5 Predictive Control with Constraints
2.6 Summary
Problems
3 Discretetime MPC Using Laguerre Functions
3.1 Introduction
3.2 Laguerre Functions and DMPC
3.3 Use of Laguerre Functions in DMPC Design
3.4 Extension to MIMO Systems
3.5 MATLAB Tutorial Notes
3.7 Stability Analysis
3.8 Closedform Solution of Constrained Control for SISO Systems
3.9 Summary
Problems
4 Discretetime MPC with Prescribed Degree of Stability
4.1 Introduction
4.2 Finite Prediction Horizon: Revisited
4.3 Use of Exponential Data Weighting
4.4 Asymptotic Closedloop Stability with Exponential Weighting
4.5 Discretetime MPC with Prescribed Degree of Stability
4.6 Tuning Parameters for Closedloop Performance
4.7 Exponentially Weighted Constrained Control
4.8 Additional Benefit
4.9 Summary
Problems
5 Continuoustime Orthonormal Basis Functions
5.1 Introduction
5.2 Orthonormal Expansion
5.3 Laguerre Functions
5.4 Approximating Impulse Responses
5.5 Kautz Functions
5.6 Summary
Problems
6 Continuoustime MPC
6.1 Introduction
6.2 Model Structures for CMPC Design.
6.3 Model Predictive Control Using Finite Prediction Horizon
6.4 Optimal Control Strategy
6.5 Receding Horizon Control
6.6 Implementation of the Control Law in Digital Environment
6.7 Model Predictive Control Using Kautz Functions
6.8 Summary
Problems
7 Continuoustime MPC with Constraints
7.1 Introduction
7.2 Formulation of the Constraints
7.3 Numerical Solutions for the Constrained Control Problem
7.4 Realtime Implementation of Continuoustime MPC
7.5 Summary
Problems
8 Continuoustime MPC with Prescribed Degree of Stability
8.1 Introduction
8.2 Motivating Example
8.3 CMPC Design Using Exponential Data Weighting
8.4 CMPC with Asymptotic Stability
8.5 Continuoustime MPC with Prescribed Degree of Stability
8.6 Constrained Control with Exponential Data Weighting
8.7 Summary
Problems
9 Classical MPC Systems in Statespace Formulation
9.1 Introduction
9.2 Generalized Predictive Control in Statespace Formulation
9.3 Alternative Formulation to GPC
9.4 Extension to MIMO Systems
9.5 Continuoustime NMSS model
9.6 Case Studies for Continuoustime MPC
9.7 Predictive Control Using Impulse Response Models
9.8 Summary
Problems
10 Implementation of Predictive Control Systems
10.1 Introduction
10.2 Predictive Control of DC Motor Using a Microcontroller
10.3 Implementation of Predictive Control Using xPC Target
10.4 Control of Magnetic Bearing Systems
10.5 Continuoustime Predictive Control of Food Extruder
10.6 Summary
