Engine idle speed control using nonlinear multiparametric model predictive control

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Abstract
Summary: In this article, a real‐time nonlinear model predictive idle speed controller based on multiparametric programming is designed for an SI engine. Idle speed is a crucial recurring condition in urban vehicles demanding proper control to avoid stall. As will be seen, the nonlinear model predictive control (NMPC) system designed, besides complying with the predefined constraints, demonstrates a far better performance than the prevalent industrial controllers and even conventional linear MPC controllers. More importantly, a new special structure combining offline nonlinear MPC and classical controller is employed to provide both robustness and fast response. Not only is the computational burden of the controller within that of the ordinary ECU controllers, it is also able to readily damp a disturbance of 20 N·m in less than 2.5 seconds and easily deal with parameter uncertainties. The control system also regulates engine gas pedal release, and converges to the set point with a settling time of less than 3 seconds and minimum fluctuations.

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