Adaptive extended state space predictive control for a kind of nonlinear systems |
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Authors: | Ri-Dong Zhang Shu-Qing Wang An-Ke Xue Zheng-Yun Ren Ping Li |
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Affiliation: | aInformation and Control Institute, Hangzhou Dianzi University, Hangzhou,310018, PR China;bNational Key Laboratory of Industrial Control Technology, Institute of Advanced Process Control, Zhejiang University, Hangzhou, 310027, PR China;cDepartment of Automation, Donghua University, Shanghai, 200051, PR China;dSchool of Information and Control Engineering, Liaoning University of Petroleum & Chemical Technology, Fushun, 113001, PR China |
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Abstract: | This paper presents an adaptive nonlinear predictive control design strategy for a kind of nonlinear systems with output feedback coupling and results in the improvement of regulatory capacity for reference tracking, robustness and disturbance rejection. The nonlinear system is first transformed into an equal time-variant system by analyzing the nonlinear part. Then an extended state space predictive controller with a similar structure of a PI optimal regulator and with P-step setpoint feedforward control is designed. Because changes of the system state variables are considered in the objective function, the control performance is superior to conventional state space predictive control designs which only consider the predicted output errors. The proposed method is tested and compared with latest methods in literature. Tracking performance, robustness and disturbance rejection are improved. |
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Keywords: | Extended state space model PI optimal regulator Predictive control |
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