fast strongmodelstrong predictive control (mpc) - information engineering.pdf

Fast Model Predictive Control (MPC) Manfred Morari with thanks to Colin Jones, Paul Goulart, Alex Domahidi, Stefan Richter and many other collaborators Automatic Control Laboratory, ETH Zürich Fast Model Predictive Control (MPC) Manfred Morari with thanks to Colin Jones, Paul Goulart, Alex Domahidi, Stefan Richter and many other collaborators Automatic Control Laboratory, ETH Zürich E. J. Davison, “Multivariable tuning regulators: The feedforward and robust con- trol of a general servomechanism problem,” ZEEE Trans. A m o m . Conrr., vol. AC-21, pp. 3547, Feb. 1976. 4f,p2. +*, B.Francis, private communication. My first “encounter” with Keith…. the condi- system’s Characterizationof Structural Controllability K. GLOVER,MEMBER, IEEE, AND L. M.SILVERMAN, MEhFBER,IEEE to is signifi- 1 and Abstract-A self-containedalgebraicderivation of the necessary and (7), the sufficient conditions for a multiinput system with a fiied zero structnre to of be stroetorally controllable is given. In addition, a new recursive test for as r3p3 determining structural controllabilitywhich utilizes only Boolean opera- p max tions is obtained. IEEE TRANMCTIONS ON AUTOMATIC CONTROL, AUGUST 1976 I. INTRODUCTION Consider the time invariant system REFERENCES i ( f ) = A x ( t ) + B u ( t ) (1.1) E. J. Davison, “Tbe feedforward, feedback and robust control of a general