Abstract
In this introduction, we present the basics of NMPC in an informal way. In particular, we introduce the central idea of iterative optimal control on a moving finite horizon. We provide a brief history of NMPC and MPC, explain the organization of the material in this book, and mention some topics which are not covered.
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Notes
- 1.
The meaning of “admissible” will be defined in Sect. 3.2.
- 2.
Attentive readers may already have noticed that this description is mathematically idealized since we neglected the computation time needed to solve the optimization problem. In practice, when the measurement x(n) is provided to the optimizer the feedback value \(\mu (x(n))\) will only be available after some delay. For simplicity of exposition, throughout our theoretical investigations we will assume that this delay is negligible. We will come back to this problem in Sect. 10.6.
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Grüne, L., Pannek, J. (2017). Introduction. In: Nonlinear Model Predictive Control. Communications and Control Engineering. Springer, Cham. https://doi.org/10.1007/978-3-319-46024-6_1
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