Hybrid explicit model predictive control of a nonlinear process approximated with a piecewise affine model |
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Authors: | Bo?tjan Pregelj Samo Gerk?i? |
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Affiliation: | Jo?ef Stefan Institute, Ljubljana, Slovenia |
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Abstract: | The recently developed methods of explicit (multi-parametric) model predictive control (e-MPC) for hybrid systems provide an interesting opportunity for solving a class of nonlinear control problems. With this approach, the nonlinear process is approximated by a piecewise affine (PWA) hybrid model containing a set of local linear dynamics. Compared to linear-model-based MPC, a performance improvement is expected with the reduction of the plant-to-model mismatch; however at a cost of controller computation complexity. In order to reduce the computational load, so that desired horizon lengths may be used, we present an efficient sub-optimal solution. The feasibility of the approach for the application was evaluated in an experimental case study, where an output feedback, offset-free-tracking hybrid e-MPC controller was considered as a replacement for a PID-controller-based scheme for the control of the pressure in a wire-annealing machine. |
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