一种间歇过程的综合预测迭代学习控制方法.PDFVIP

29 8 Vol. 29 No. 8 2012 8 Control Theory Applications Aug. 2012 :2012 , ( , 100084) : , , . , , , . . . : ; ; ; : TP273.3 : A An integrated predictive iterative learning control for batch process CHEN Chen, XIONG Zhi-hua (Department of Automation, Tsinghua University, Beijing 100084, China) Abstract: In order to improve the convergence speed of iterative learning control (ILC), an integrated scheme for tracking problem of batch process is proposed by combining batch-to-batch P-type ILC and within-batch model predictive control (MPC). Based on a predefined batch-wise linear model of the process, the output of traditional P-type ILC can be predicted, and then MPC is induced to minimize a quadratic objective function within the current batch. The input is updated within the batch so that the output may approach the reference trajectory faster. An illustrative example is presented to demonstrate the performance of the proposed scheme. Key words: iterative learning control; model predictive control; integrated control; batch process 1 Introduction a batch MPC (BMPC) technique by incorporating the Iterative learning control (ILC), which was intro- real-time feedback control into ILC, and later it is ex- duced by Arimoto[1] in 1984, has been widely studied tended to the quadratic BMPC (QBMPC)[6]. Based on and used in the repetitive industrial processes and batch the quadratic crite