Designing {MPC} controllers by reverse-engineering existing {LTI} controllers
Hartley E.N. and Maciejowski J.M.
September 2011
Technical Report: http://arxiv.org/abs/1109.2816
Abstract
This technical report presents a method for designing a constrained output-feedback model predictive controller (MPC) that behaves in the same way as an existing baseline stabilising linear time invariant output-feedback controller when constraints are inactive. The baseline controller is cast into an observer-compensator form and an inverse-optimal cost function is used as the basis of the MPC controller. The available degrees of design freedom are explored, and some guidelines provided for the selection of an appropriate observer-compensator realisation that will best allow exploitation of the constraint-handling and redundancy management capabilities of MPC. Consideration is given to output setpoint tracking, and the method is demonstrated with three different multivariable plants of varying complexity.
BibTex Entry
- @TechReport{,
- author = {Hartley E.N. and Maciejowski J.M.},
- institution = {University of Cambridge Department of Engineering},
- title = {Designing {MPC} controllers by reverse-engineering existing {LTI} controllers},
- year = {2011},
- annote = {CUED/F-INFENG/TR.671},
- month = {September},
- note = {http://arxiv.org/abs/1109.2816}
- }
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