
Saunder January 22, 2014 10:43 K15053˙Book
Disturbance Rejection for Small-Scale Helicopters 243
where
T
f
=
¯
τ
1
... 0
1×ρ
4
.
.
.
.
.
.
.
.
.
0
1×ρ
1
...
¯
τ
4
(14.32)
and
T
s
=
˜
τ
1
...
˜
τ
r +1
(14.33)
and the construction of
¯
W
i
(t), i = 1, 2, 3, 4, and
˜
W
i
, i = 1, ..., r + 1, can refer
to the structure of
¯
Y
i
(t) and
˜
Y
i
, respectively.
14.3.2 Explicit Nonlinear MPC Solution
The conventional MPCneeds to solve a formulatedoptimisation problem to generate
the control signal, where the control performance index is minimized with respect to
the futurecontrolinput over the predictionhorizon.After the output is approximated
by its Taylor expansion, the control profile can be defined ...