非线性模型预测控制_Chapter2.pdfVIP

Chapter 2 Discrete Time and Sampled Data Systems 2.1 Discrete Time Systems In this book, we investigate model predictive control for discrete time nonlinear control systems of the form + x = f (x, u). (2.1) Here, the transition map f : X × U → X assigns the state x + ∈ X at the next time instant to each pair of state x ∈ X and control value u ∈ U . The state space X and the control value space U are arbitrary metric spaces, i.e., sets in which we can