Techniques of Model-Based Control

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 ...