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Erschienen in:
2007 | OriginalPaper | Buchkapitel
Explicit Model Predictive Control
verfasst von : Urban Maeder, Raphael Cagienard, Manfred Morari
Erschienen in: Advanced Strategies in Control Systems with Input and Output Constraints
Verlag: Springer Berlin Heidelberg
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In this contribution, explicit model predictive control is applied to the benchmark problems. Emphasis is put on the reduction of complexity both for the off-line and on-line computation. For the pendulum, a control-invariant set is computed first. By using this set in the subsequent optimal control problem, a simple solution can be attained which guarantees invariance of the resulting closed-loop system by construction. The computation of such invariant sets for systems with a partially constrained state-space is discussed.