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Extension of efficient predictive control to the nonlinear case
Author(s) -
Bacic M.,
Can M.,
Kouvaritakis B.
Publication year - 2005
Publication title -
international journal of robust and nonlinear control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.361
H-Index - 106
eISSN - 1099-1239
pISSN - 1049-8923
DOI - 10.1002/rnc.982
Subject(s) - extension (predicate logic) , affine transformation , nonlinear system , model predictive control , simple (philosophy) , mathematical optimization , computer science , regular polygon , state space , algorithm , computational complexity theory , mathematics , control (management) , artificial intelligence , philosophy , statistics , physics , geometry , epistemology , quantum mechanics , pure mathematics , programming language
The combined use of the closed‐loop paradigm, an augmented autonomous state space formulation, partial invariance, local affine difference inclusion, and polytopic invariance are deployed in this paper to propose an NMPC algorithm which, unlike earlier algorithms that have to tackle online a nonlinear non‐convex optimization problem, requires the solution of a simple QP. The proposed algorithm is shown to outperform earlier algorithms in respect of size of region of attraction and online computational load. Conversely, for comparable computational loads, the proposed algorithm outperforms earlier algorithms in terms of optimality of dynamic performance. Copyright © 2005 John Wiley & Sons, Ltd.