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NONLINEAR MPC VERSUS MPC USING ON-LINE LINEARISATION — A COMPARATIVE STUDY
N. Blet* D. Megías** J. Serrano** C. de Prada***
* Universidad Nacional de Rosario Rosario, Argentina.
E-mail: nblet@fceia.unr.edu.ar
** Unitat d’Enginyeria de Sistemes i d’Automàtica, Dept.
d’Informàtica, ETSE, Universitat Autònoma de Barcelona, Edifici Q,
08193 Bellaterra (Cerdanyola del Vallès), Barcelona, Spain.
Tel. (+34) 935 813 027, Fax (+34) 935 813 033,
E-mail: {David.Megias,Javier.Serrano}@uab.es
*** Departamento de Ingeniería de Sistemas y Automática, Universidad
de Valladolid, 47011 Valladolid, Spain.
E-mail: prada@autom.uva.es
One of the main drawbacks of NMPC schemes is the enormous computational effort these controllers require. On the other hand, linear MPC methods can be implemented solving just Quadratic Programming (QP) or Linear Programming (LP) problems. In this paper, an alternative implementation of NMPC suggested by De Keyser (1998) is implemented to reduce the computational effort. This methodology is based on on-line linearisation and solves and iterative procedure which, if convergent, provides with the solution of the NMPC problem. This controller is tested and compared with the purely nonlinear MPC schemes.
Keywords: predictive control, nonlinear systems, constraints
Session slot T-Fr-M07: Nonlinear Predicitive Control/Area code 2c : Non-linear Systems
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