资源描述：
《2004-a-examples when nonlinear model predictive control is nonrobust》由会员上传分享，免费在线阅读，更多相关内容在行业资料-天天文库。
1、Automatica40(2004)1729–1738www.elsevier.com/locate/automaticaBriefpaperExampleswhennonlinearmodelpredictivecontrolisnonrobustGeneGrimm,MichaelJ.Messina,SezaiE.Tuna,AndrewR.Teel∗CenterforControlEngineeringandComputation,DepartmentofElectricalandComputerEngineering,Universit
2、yofCalifornia,SantaBarbara,CA93106-9560,USAReceived18October2002;receivedinrevisedform31March2004;accepted24April2004AbstractWeconsidernominalrobustnessofmodelpredictivecontrolfordiscrete-timenonlinearsystems.Weshow,byexamples,thatwhentheoptimizationprobleminvolvesstatecons
3、traints,orterminalconstraintscoupledwithshortoptimizationhorizons,theasymptoticstabilityoftheclosedloopmayhaveabsolutelynorobustness.Thatistosay,itispossibleforarbitrarilysmalldisturbancestokeeptheclosedloopstrictlyinsidetheinteriorofthefeasibilityregionoftheoptimizationpro
4、blemand,atthesametime,farfromthedesiredsetpoint.Thisphenomenondoesnotoccurwhenusingmodelpredictivecontrolforlinearsystemswithconvexconstraintsets.Weemphasizethatanecessaryconditionfortheabsenceofnominalrobustnessinnonlinearmodelpredictivecontrolisthatthevaluefunctionandfeed
5、backlawarediscontinuousatsomepoint(s)intheinteriorofthefeasibilityregion.?2004ElsevierLtd.Allrightsreserved.Keywords:Modelpredictivecontrol;Asymptoticstability;Lyapunovfunction;Robustness1.Introductioncommonstabilityanalysisemploysthevaluefunction(thelowestvalueofthecostbei
6、ngminimized)asaLyapunovFinitehorizonmodelpredictivecontrol(MPC)method-function,forinstance,asinKeerthiandGilbert(1988)andologyisbasedontheideaofemulatingin8nitehorizonMichalskaandMayne(1993).Asymptoticstabilityisusu-optimalcontrolalgorithms.A8nitehorizonoptimizationallyensu
7、redbyintroducingsomeorallofthefollowing:problemissolvedstartingfromthecurrentstateandthe8rstaterminalequalityconstraint(Keerthi&Gilbert,1988;entryofaresultingoptimalinputsequence(weconsiderMeadows,Henson,Eaton,&Rawlings,1995);aterminalproblemsindiscretetime)ischosenasthecon
8、trolvalue.costfunctionthatisacontrolLyapunovfunction(Jadbabaie,Atthenexttimeinstan
