采集数据模型预测控制.doc

Sampled-Data Model Predictive Control for Nonlinear Time-Varying Systems: Stability and Robustness Fernando A. C. C. Fontes, Lalo Magni, Eva Gyurkovics PhD, Imperial College London IEEE Transactions on Power Delivery, Vol. 8, No. 1, Jariuary 1993. Keyword barbalat Principle Nonlinear time-varying systems Stability and robustness Summary. We describe here a sampled-data Model Predictive Control framework that uses continuous-time models but the sampling of the actual state of the plant as well as the computation of the control laws, are carried out at discrete instants of time. This framework can address a very large class of systems, nonlinear, time-varying, and nonholonomic. As in many others sampled-data Model Predictive Control schemes, Barbalat’s lemma has an important role in the proof of nominal stability results. It is argued that the generalization of Barbalat’s lemma, described here, can have also a similar role in the proof of robust stability results, allowing also to address a very general class of nonlinear, time-varying, nonholonomic systems, subject to disturbances. The possibility of the framework to accommodate discontinuous feedbacks is essential to achieve both nominal stability and robust stability for such general classes of systems. 1 Introduction Many Model Predictive Control (MPC) schemes described in the literature use continuous-time models and sample the state of the plant at discrete instants of time. See e.g. [3, 7, 9, 13] and also [6]. There are many advantages in considering a continuous-time model for the plant. Nevertheless, any implementable MPC scheme can only measure the state and solve an optimization problem at discrete instants of time. In all the references cited above, Barbalat’s lemma, or a modification of it, is used as an important step to prove stability of the MPC schemes. (Barbalat’s lemma is a well-known and Powerful tool to deduce asymptotic stability of nonlinear systems, especially time-varying systems, using Lya