Lecture14_2010

Lecture14_2010 - measurements calculated p 1 m 1 2 actuator...

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PC otivation MPC Motivation Practical Problems multivariable difficult dynamic behavior nonlinear constraints (input, output) eal Controller Ideal Controller handle all of the above optimize use of control input (e.g., insulin) ork with minimal information work with minimal information remain robust to noise/model error maintain attributes during transient and steady state operation
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PC Capabilities MPC Capabilities Well suited for MIMO problems (even nonsquare) Handles NMP, time delay, open loop unstable Utilizes a process model (variety of forms) Compensates for measured and unmeasured disturbances Posed as an optimization problem (input costs, constraints) History Shell 1970s > “state of the art” in 1990s
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oving Horizon Concept of MPC Moving Horizon Concept of MPC past future k target value predicted process trend archived measurements calculated p m ... ... 1 actuator moves k+p k+m k+1 time
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oving Horizon Concept of MPC Moving Horizon Concept of MPC past future k+1 target value predicted process trend archived
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Unformatted text preview: measurements calculated p+1 m+1 ... ... 2 actuator moves k+p+1 k+m+1 k+2 time oving Horizon Concept of MPC Moving Horizon Concept of MPC past future k+2 target value predicted process trend archived measurements calculated p+2 m+2 ... ... 3 actuator moves hess Analogy k+p+2 k+m+2 k+3 time Chess Analogy PC Receding Horizon MPC Receding Horizon t past future target manipulated variable controlled output k+p k+m ... ... k+1 k PC lock Diagram MPC Block Diagram PC Components MPC Components • Reference Trajectory Specification • Process Output Prediction (using Model) • Control Action Sequence Computation (programming problem) • ror Prediction Update (feedback) Error Prediction Update (feedback) ontrol Hierarchy Control Hierarchy PC Survey MPC Survey near MPC Vendors Linear MPC Vendors onlinear MPC Vendors Nonlinear MPC Vendors near MPC Applications Linear MPC Applications onlinear MPC Applications Nonlinear MPC Applications...
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Lecture14_2010 - measurements calculated p 1 m 1 2 actuator...

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