ANALOG AND DIGITAL CONTROL SYSTEM DESIGN
CONTENTS DISCRETE-TIME MPC FOR BEGINNERS INTRODUCTION DAY-TO-DAY APPLICATION EXAMPLE OF PREDICTIVE CONTROL MODELS USED IN THE DESIGN STATE-SPACE MODELS WITH EMBEDDED INTEGRATOR SINGLE-INPUT AND SINGLE-OUTPUT SYSTEM MATLAB TUTORIAL: AUGMENTED DESIGN MODEL PREDICTIVE CONTROL WITHIN ONE OPTIMIZATION WINDOW PREDICTION OF STATE AND OUTPUT VARIABLES OPTIMIZATION MATLAB TUTORIAL: COMPUTATION OF MPC GAINS RECEDING HORIZON CONTROL CLOSED-LOOP CONTROL SYSTEM MATLAB TUTORIAL: IMPLEMENTATION OF RECEDING HORIZON CONTROL PREDICTIVE CONTROL OF MIMO SYSTEMS GENERAL FORMULATION OF THE MODEL SOLUTION OF PREDICTIVE CONTROL FOR MIMO SYSTEMS STATE ESTIMATION BASIC IDEAS ABOUT AN OBSERVER BASIC RESULTS ABOUT OBSERVABILITY KALMAN FILTER TUNING OBSERVER DYNAMICS STATE ESTIMATE PREDICTIVE CONTROL SUMMARY PROBLEMS DISCRETE-TIME MPC WITH CONSTRAINTS MOTIVATIONAL EXAMPLES FORMULATION OF CONSTRAINED CONTROL PROBLEMS FREQUENTLY USED OPERATIONAL CONSTRAINTS CONSTRAINTS AS PART OF THE OPTIMAL SOLUTION NUMERICAL SOLUTIONS USING QUADRATIC PROGRAMMING QUADRATIC PROGRAMMING FOR EQUALITY CONSTRAINTS MINIMIZATION WITH INEQUALITY CONSTRAINTS PRIMAL-DUAL METHOD HILDRETH’S QUADRATIC PROGRAMMING PROCEDURE MATLAB TUTORIAL: HILDRETH’S QUADRATIC PROGRAMMING CLOSED-FORM SOLUTION OF ?? PREDICTIVE CONTROL WITH CONSTRAINTS ON INPUT VARIABLES CONSTRAINTS ON RATE OF CHANGE CONSTRAINTS ON AMPLITUDE OF THE CONTROL CONSTRAINTS ON AMPLITUDE AND RATE OF CHANGE CONSTRAINTS ON THE OUTPUT VARIABLE DISCRETE-TIME MPC USING LAGUERRE FUNCTIONS LAGUERRE FUNCTIONS AND DMPC DISCRETE-TIME LAGUERRE NETWORKS USE OF LAGUERRE NETWORKS IN SYSTEM DESCRIPTION MATLAB TUTORIAL: USE OF LAGUERRE FUNCTIONS IN SYSTEM MODELLING USE OF LAGUERRE FUNCTIONS IN DMPC DESIGN DESIGN FRAMEWORK COST FUNCTIONS MINIMIZATION OF THE OBJECTIVE FUNCTION CONVOLUTION SUM THE OPTIMAL TRAJECTORY OF INCREMENTAL CONTROL EXTENSION TO MIMO SYSTEMS MATLAB TUTORIAL NOTES DMPC COMPUTATION PREDICTIVE CONTROL SYSTEM SIMULATION CONSTRAINED CONTROL USING LAGUERRE FUNCTIONS CONSTRAINTS ON THE DI?ERENCE OF THE CONTROL VARIABLE CONSTRAINTS ON THE AMPLITUDES OF THE CONTROL SIGNAL STABILITY ANALYSIS STABILITY WITH TERMINAL-STATE CONSTRAINTS STABILITY WITH LARGE PREDICTION HORIZON CLOSED-FORM SOLUTION OF CONSTRAINED CONTROL FOR SISO SYSTEMS MATLAB TUTORIAL: CONSTRAINED CONTROL OF DC MOTOR DISCRETE-TIME MPC WITH PRESCRIBED DEGREE OF STABILITY FINITE PREDICTION HORIZON: RE-VISITED MOTIVATIONAL EXAMPLE ORIGIN OF THE NUMERICAL CONDITIONING PROBLEM USE OF EXPONENTIAL DATA WEIGHTING THE COST FUNCTION OPTIMIZATION OF EXPONENTIALLY WEIGHTED COST FUNCTION INTERPRETATION OF RESULTS FROM EXPONENTIAL WEIGHTING ASYMPTOTIC CLOSED-LOOP STABILITY WITH EXPONENTIAL WEIGHTING MODI?CATION OF Q AND R MATRICES INTERPRETATION OF THE RESULTS TUNING PARAMETERS FOR CLOSED-LOOP PERFORMANCE THE RELATIONSHIP BETWEEN P?AND JMIN TUNING PROCEDURE ONCE MORE EXPONENTIALLY WEIGHTED CONSTRAINED CONTROL ADDITIONAL BENE?T CONTINUOUS-TIME ORTHONORMAL BASIS FUNCTIONS ORTHONORMAL EXPANSION LAGUERRE FUNCTIONS APPROXIMATING IMPULSE RESPONSES KAUTZ FUNCTIONS KAUTZ FUNCTIONS IN THE TIME DOMAIN MODELLING THE SYSTEM IMPULSE RESPONSE CONTINUOUS-TIME MPC MODEL STRUCTURES FOR CMPC DESIGN MODEL STRUCTURE CONTROLLABILITY AND OBSERVABILITY OF THE MODEL MODEL PREDICTIVE CONTROL USING FINITE PREDICTION HORIZON MODELLING THE CONTROL TRAJECTORY PREDICTED PLANT RESPONSE ANALYTICAL SOLUTION OF THE PREDICTED RESPONSE THE RECURSIVE SOLUTION OPTIMAL CONTROL STRATEGY IMPLEMENTATION OF THE CONTROL LAW IN DIGITAL ENVIRONMENT ESTIMATION OF THE STATES MATLAB TUTORIAL: CLOSED-LOOP SIMULATION MODEL PREDICTIVE CONTROL USING KAUTZ FUNCTIONS CONTINUOUS-TIME MPC WITH CONSTRAINTS FORMULATION OF THE CONSTRAINTS FREQUENTLY USED CONSTRAINTS NUMERICAL SOLUTIONS FOR THE CONSTRAINED CONTROL PROBLEM REAL-TIME IMPLEMENTATION OF CONTINUOUS-TIME MPC CONTINUOUS-TIME MPC WITH PRESCRIBED DEGREE OF STABILITY MOTIVATING EXAMPLE CMPC DESIGN USING EXPONENTIAL DATA WEIGHTING CMPC WITH ASYMPTOTIC STABILITY THE ORIGINAL ANDERSON AND MOORE’S RESULTS CMPC WITH A PRESCRIBED DEGREE OF STABILITY TUNING PARAMETERS AND DESIGN PROCEDURE CONSTRAINED CONTROL WITH EXPONENTIAL DATA WEIGHTING CLASSICAL MPC SYSTEMS IN STATE-SPACE FORMULATION GENERALIZED PREDICTIVE CONTROL IN STATE-SPACE FORMULATION SPECIAL CLASS OF DISCRETE-TIME STATE-SPACE STRUCTURES GENERAL NMSS STRUCTURE FOR GPC DESIGN ALTERNATIVE FORMULATION TO GPC ALTERNATIVE FORMULATION FOR SISO SYSTEMS CLOSED-LOOP POLES OF THE PREDICTIVE CONTROL SYSTEM TRANSFER FUNCTION INTERPRETATION MNSS MODEL FOR MIMO SYSTEMS CASE STUDY OF NMSS PREDICTIVE CONTROL SYSTEM CONTINUOUS-TIME NMSS MODEL CASE STUDIES FOR CONTINUOUS-TIME MPC PREDICTIVE CONTROL USING IMPULSE RESPONSE MODELS IMPLEMENTATION OF PREDICTIVE CONTROL SYSTEMS 10 1 INTRODUCTION 10 2 PREDICTIVE CONTROL OF DC MOTOR USING A MICRO-CONTROLLER 10 2 1 HARDWARE CON?GURATION 10 2 2 MODEL DEVELOPMENT 10 2 3 DMPC TUNING 10 2 4 DMPC IMPLEMENTATION 10 2 5 EXPERIMENTAL RESULTS 10 3 IMPLEMENTATION OF PREDICTIVE CONTROL USING XPC TARGET 10 3 1 OVERVIEW 10 3 2 CREATING A SIMULINK EMBEDDED FUNCTION 10 3 3 CONSTRAINED CONTROL OF DC MOTOR USING XPC TARGET 10 4 CONTROL OF MAGNETIC BEARING SYSTEMS 10 4 1 SYSTEM IDENTI?CATION 10 4 2 EXPERIMENTAL RESULTS 10 5 CONTINUOUS-TIME PREDICTIVE CONTROL OF FOOD EXTRUDER 10 5 1 EXPERIMENTAL SETUP 10 5 2 MATHEMATICAL MODELS 10 5 3 OPERATION OF THE MODEL PREDICTIVE CONTROLLER 10 5 4 CONTROLLER TUNING PARAMETERS 10 5 5 ON-LINE CONTROL EXPERIMENTS 10 6 SUMMARY REFERENCES