Efficient scheduled stabilizing model predictive control for constrained nonlinear systems
- 20 February 2003
- journal article
- research article
- Published by Wiley in International Journal of Robust and Nonlinear Control
- Vol. 13 (3-4) , 331-346
Abstract
We present a computationally efficient scheduled model predictive control (MPC) algorithm for constrained nonlinear systems with large operating regions. We design a set of local predictive controllers with estimates of their regions of stability covering the desired operating region, and implement them as a single scheduled MPC which on‐line switches between the set of local controllers and achieves nonlinear transitions with guaranteed stability. This algorithm is computationally efficient and provides a general framework for the scheduled MPC design. The algorithm is illustrated with two examples. Copyright © 2003 John Wiley & Sons, Ltd.Keywords
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