On the explicit dead-time compensation for robust model predictive control |
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Authors: | Tito L.M. Santos Daniel Limon |
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Affiliation: | a Departamento de Automação e Sistemas, Universidade Federal de Santa Catarina Caixa Postal 476, CEP 88040-900, Florianópolis, Santa Catarina, Brazil b Departamento de Ingeniería de Sistemas y Automática, Avda Camino de los Descubrimientos s/n, 41092 Sevilla, Spain |
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Abstract: | Computational simplicity is one of the most important aspects to take into account in robust model predictive control (MPC). In dead-time processes, it is common to use an augmented state-space representation in order to apply robust MPC strategies but, this procedure may affect computational aspects. In this paper, explicit dead-time compensation will be used to avoid augmented representation. This technique will be analyzed in terms of robust stability and constraint satisfaction for discrete-time linear systems. The results of this discussion will be applied to a robust tube-based MPC strategy which is able to guarantee robust stability and constraint satisfaction of a dead-time system by considering a prediction model without dead-time. Moreover, taking advantage of the proposed scheme, the robust MPC will be particularized for first-order plus dead-time models which simplifies significantly controller synthesis. The proposed dead-time compensation method will be applied to different robust MPC strategies in two case studies: (i) a simulated quadruple-tank system, and (ii) an experimental scaled laboratory heater process. |
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Keywords: | Dead-time compensator Model predictive control Robust control Constrained systems |
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