Continuous-time MPC with Constraints
This chapter discusses continuous-time model predictive control with constraints. Section 7.2 formulates the constraints for the continuous-time predictive control system, including the cases of set-point following and disturbance rejection of constant signals. Section 7.3 presents the numerical solution of the constrained control problem with an example, where Hildreth’s quadratic programming procedure is employed. Because of the nature of the continuoustime formulation such as fast sampling, there might be computational delays when the quadratic programming procedure is used in the solution of the realtime optimization problem. Section 7.4 discusses the real-time implementation of continuous-time model predictive control in the presence of constraints.
KeywordsModel Predictive Control Proportional Integral Derivative Transfer Function Model Proportional Integral Derivative Controller Output Constraint
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