We present robust stabilization results for constrained, discrete-time, nonlinear systems using a finite-horizon model predictive control (MPC) algorithm that does not require any particular properties for the termina...
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We present robust stabilization results for constrained, discrete-time, nonlinear systems using a finite-horizon model predictive control (MPC) algorithm that does not require any particular properties for the terminal cost. We introduce a property that characterizes the robustness properties of the MPC optimization problem. Assuming the system has this property (for which we give sufficient conditions), we make two further key assumptions. These are that the value function is bounded by a K/sub /spl infin// function of a state measure (related to the distance of the state to some target set) and that this measure is detectable from the stage cost used in the MPC algorithm. We show that these assumptions lead to stability that is robust to sufficiently small disturbances and measurement noise. While in general the results are semiglobal practical, when the detectability and upper bound assumptions are satisfied with linear K/sub /spl infin// functions, the stability and robustness is global with respect to the feasible set. We discuss algorithms employing terminal equality or inequality constraints. We provide two examples, one involving a terminal equality constraint and the other involving a nonrobustness-inducing state constraint.
In this paper, a simple neuro-controller for power systems is presented. The controller performs the function of the terminal voltage control. By representing the proposed neuro-controller in s-domain, its parameters ...
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Design of an optimal nonlinear state feedback voltage regulator for power systems is proposed in this paper. In order to obtain the nonlinear control law the Hamilton-Jacobi-Belman (HJB) equation is solved using Taylo...
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Dynamic control of parallel wheeled differential drive mobile robot is considered. The dynamic model is composed of two consecutive parts;kinematic model and equations of linear and angular torques. By transforming dy...
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In this paper a new method to design a nonlinear optimal controller using approximate solution of the HJB equation is presented. Using this method the power system stabilizer and voltage regulator is designed. In this...
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In process control the main goal is not only the output tracking but also the design of a suitable control signal. It is due to the fact that it is dealt with the actuator's performance directly. This means that t...
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In this paper, a high performance control applied to speed control of interior permanent magnet synchronous motors. The design strategy is performed with constraint on the power factor, i.e., the power factor is maxim...
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In this paper, a neural network-based predictive controller is designed to govern the dynamics of heat exchanger process. Heat exchanger is a highly nonlinear process;therefore, a nonlinear prediction method can be a ...
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In this paper, a high performance control applied to speed control of interior permanent magnet synchronous motors. The design strategy is performed with constraint on the power factor, i.e., the power factor is maxim...
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The main contribution of the paper is an output-feedback application in the inertia wheel pendulum (IWP). Due to the absence of a separation principle, it is necessary to design control laws that guarantee robustness ...
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The main contribution of the paper is an output-feedback application in the inertia wheel pendulum (IWP). Due to the absence of a separation principle, it is necessary to design control laws that guarantee robustness against the observer error. We present a design, which renders the system iISS with respect to the observer error and, hence, ensures robustness when the error is exponentially decaying. The advantage of our design over the observer-based backstepping scheme is that we employ nonlinear damping terms, which grow slower than those in (A toolkit for nonlinear feedback design, 1989), (Singular perturbations and input-to-state stability, 1996), and result in a "softer" control law.
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