Chapter 17. Basic Model-Predictive Control

Objectives of the Chapter

In this chapter we describe a discrete-time implementation of model-based control algorithm called model-predictive control (MPC). The main issues addressed are

  • Reduction of a control problem into an optimization problem that is solved at every sample time.

  • Incorporating effect of measured disturbances (feedforward control).

  • Control of multivariable systems.

Prerequisite Reading

Chapter 14, “Discrete-Time Models”

Appendix C, “Linear Least-Squares Regression”

Introduction

In this chapter we will consider discrete-time (computer-control) systems. The control problem is expressed as a problem of minimizing an objective function subject to constraints. The availability of a model allows us ...

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