Abstract
A hierarchical two-layer control structure is designed with robust Model Predictive Control. The system at the upper level is described by a Wiener model, while the systems at the lower level, which represent the fast actuators dynamics, are described by general nonlinear models. The proposed control structure guarantees steady-state zero error regulation for constant reference signals and allows one to largely decouple the control design phase at the two levels while still guaranteeing the overall stability under mild assumptions.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Chen, H., Allgöwer, F.: A quasi-infinite horizon nonlinear model predictive control scheme with guaranteed stability. Automatica 34, 1205–1217 (1998)
Clarke, D.W., Scattolini, R.: Constrained Receding Horizon Predictive Control. In: 17IEE Proc. Part D, vol. 138, pp. 347–354 (1991)
De Nicolao, G., Magni, L., Scattolini, R.: Stabilizing Receding-Horizon Control of Nonlinear Time-Varying Systems. In: IEEE Trans. on Automatic Control, vol. AC-43, pp. 1030–1036 (1998)
De Nicolao, G., Magni, L., Magnani, L., Scattolini, R.: A stabilizing model-based predictive control for nonlinear systems. Automatica 37, 1351–1362 (2001)
Findeisen, W., Bailey, F.N., Brdyś, M., Malinowski, K., Tatjevski, P., Woźniak, A.: Control and Coordination in Hierarchical Systems. John Wiley & Sons, Chichester (1980)
Magni, L., De Nicolao, G., Scattolini, R., Allgöwer, F.: Robust Model Predictive Control of Nonlinear Discrete-Time Systems. International Journal of Robust and Nonlinear Control 13, 229–246 (2003)
Mayne, D.Q., Rawlings, J.B., Rao, C.V., Scokaert, P.O.M.: Constrained model predictive control: Stability and Optimality. Automatica 36, 789–814 (2000)
Ryan, E.P., Sontag, E.D.: Well-defined steady-state response does not imply CICS. Systems & Control Letters 55, 707–710 (2006)
Scattolini, R., Colaneri, P.: Hierarchical Model Predictive Control. In: IEEE Control and Decision Conference, New Orleans (2007)
Scattolini, R., Colaneri, P., De Vito, D.: A Switched MPC Approach to Hierarchical Control. In: 17th IFAC World Congress, Seoul (2008)
Siljak, D.D.: Large-scale dynamic systems: stability and structure. North-Holland, New York (1978)
Siljak, D.D.: Decentralized control of complex systems. Academic Press, Boston (1991)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2009 Springer-Verlag Berlin Heidelberg
About this chapter
Cite this chapter
Picasso, B., Romani, C., Scattolini, R. (2009). Hierarchical Model Predictive Control of Wiener Models. In: Magni, L., Raimondo, D.M., Allgöwer, F. (eds) Nonlinear Model Predictive Control. Lecture Notes in Control and Information Sciences, vol 384. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-01094-1_11
Download citation
DOI: https://doi.org/10.1007/978-3-642-01094-1_11
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-01093-4
Online ISBN: 978-3-642-01094-1
eBook Packages: EngineeringEngineering (R0)