On-line tuning strategy for model predictive controllers |
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Authors: | Ashraf Al-Ghazzawi Emad Ali Adnan Nouh Evanghelos Zafiriou |
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Affiliation: | a Electrical Engineering Department, King Saud University, PO Box 800, Riyadh 11421, Saudi Arabia;b Chemical Engineering Department, King Saud University, PO Box 800, Riyadh 11421, Saudi Arabia;c Chemical Engineering Department and Institute for Systems Research, University of Maryland, College Park, MD 20742, USA |
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Abstract: | This paper presents an intuitive on-line tuning strategy for linear model predictive control (MPC) algorithms. The tuning strategy is based on the linear approximation between the closed-loop predicted output and the MPC tuning parameters. By direct utilization of the sensitivity expressions for the closed-loop response with respect to the MPC tuning parameters, new values of the tuning parameters can be found to steer the MPC feedback response inside predefined time-domain performance specifications. Hence, the algorithm is cast as a simple constrained least squares optimization problem which has a straightforward solution. The simplicity of this strategy makes it more practical for on-line implementation. Effectiveness of the proposed strategy is tested on two simulated examples. One is a linear model for a three-product distillation column and the second is a non-linear model for a CSTR. The effectiveness of the proposed tuning method is compared to an exiting offline tuning method and showed superior performance. |
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Keywords: | Model predictive control On-line tuning Output sensitivity to tuning parameters Nominal stability |
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