121765547 - E.F Camacho and C. Bordons Model Predictive...

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E.F Camacho and C. Bordons Model Predictive Control Second Edition With 139 Figures Springer
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Contents 1 Introduction to Model Predictive Control 1 1.1 MPC Strategy 2 1.2 Historical Perspective 5 1.3 Industrial Technology :... 8 1.4 Outline of the Chapters 10 2 Model Predictive Controllers 13 2.1 MPC Elements 13 2.1.1 Prediction Model 13 2.1.2 Objective Function 18 2.1.3 Obtaining the Control Law 21 2.2 Review of Some MPC Algorithms 22 2.3 State Space Formulation 27 3 Commercial Model Predictive Control Schemes 31 3.1 Dynamic Matrix Control ^31 3.1.1 Prediction 32 3.1.2 Measurable Disturbances 34 3.1.3 Control Algorithm. 34 3.2 Model Algorithmic Control 36 3.2.1 Process Model and Prediction 36 3.2.2 Control Law 38 3.3 Predictive Functional Control 39 3.3.1 Formulation 39 3.4 Case Study: A Water Heater 42 3.5 Exercises 45 4 Generalized Predictive Control 47 4.1 Introduction 47 4.2 Formulation of Generalized Predictive Control 48 4.3 The Coloured Noise Case 53
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xviii Contents 4.4 An Example 54 4.5 Closed-Loop Relationships 57 4.6 The Role of the T Polynomial 61 4.6.1 Selection of the T Polynomial 61 4.6.2 Relationships with Other Formulations 62 4.7 The P Polynomial 62 4.8 Consideration of Measurable Disturbances 63 4.9 Use of a Different Predictor in GPC 66 4.9.1 Equivalent Structure 66 4.9.2 A Comparative Example 70 4.10 Constrained Receding Horizon Predictive Control 71 4.10.1 Computation of the Control Law 72 4.10.2 Properties 75 4.11 Stable GPC , 76 4.11.1 Formulation of the Control Law 77 All Exercises 78 5 Simple Implementation of GPC for Industrial Processes 81 5.1 Plant Model 82 5.1.1 Plant Identification: The Reaction Curve Method 82 5.2 The Dead Time Multiple of the Sampling Time Case 84 5.2.1 Discrete Plant Model 84 5.2.2 Problem Formulation 85 5.2.3 Computation of the Controller Parameters 87 5.2.4 Role of the Control-weighting Factor 89 5.2.5 Implementation Algorithm 90 5.2.6 An Implementation Example . { 90
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121765547 - E.F Camacho and C. Bordons Model Predictive...

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