By Professor E. F. Camacho, Associate Professor C. Bordons (auth.)

ISBN-10: 0857293982

ISBN-13: 9780857293985

ISBN-10: 1852336943

ISBN-13: 9781852336943

From strength crops to sugar refining, version predictive regulate (MPC) schemes have tested themselves because the most popular keep an eye on thoughts for a large choice of processes.

The moment version of Model Predictive Control presents an intensive advent to theoretical and sensible points of the main frequent MPC ideas. It bridges the distance among the strong yet usually summary recommendations of regulate researchers and the extra empirical technique of practitioners. Model Predictive Control demonstrates robust procedure doesn't continually require advanced regulate algorithms.

The textual content positive aspects fabric at the following subjects:

general MPC parts and algorithms;

commercial MPC schemes;

generalized predictive regulate

multivariable, strong, limited nonlinear and hybrid MPC;

fast tools for MPC implementation;


All of the cloth is carefully up-to-date for the second one version with the chapters on nonlinear MPC, MPC and hybrid platforms and MPC implementation being solely new. Many new workouts and examples have even have additionally been additional all through and Matlab® courses to assist of their resolution might be downloaded from the authors' site at The textual content is a wonderful reduction for graduate and complicated undergraduate scholars and also will be of use to researchers and business practitioners wishing to maintain abreast of a fast-moving field.

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Example text

In PFC the error is only counted at certain points (coincidence points); this is easily achieved in the objective function giving value one to the elements of sequence δ(j) at said points and zero at the others. All these values can be used as tuning parameters to cover an ample scope of options, from standard control to a made-tomeasure design strategy for a particular process. • reference trajectory: One of the advantages of predictive control is that if the future evolution of the reference is known a priori, the system can react before the change has effectively been made, thus avoiding the effects of delay in the process response.

1. If the cost function of a predictive controller is J = eeT + λuuT , with e = Gu + f − w, demonstrate that the minimum is given by u = (GT G + λI)−1 GT (w − f ) in the unconstrained case. 2. 4: 1. Obtain the impulse response model. 2. Create matrices H1 and H2 for the MAC controller with P = 3 and M = 5.

10) where u = [ u(t) u(t+1) . . u(t+Nu −1)]T is the vector of future control increments, H is a block lower triangular matrix with its nonnull elements defined by Hij = QM i−j N and matrix F is defined as ⎤ ⎡ QM ⎢ QM 2 ⎥ ⎥ ⎢ F=⎢ . ⎥ ⎣ .. 3 State Space Formulation 29 the vector of future control actions, which is the decision variable that must be calculated. 5), that (in the case of δ(j) = 1 and λ(j) = λ) can be written as: x(t) − w) + λuT u J = (Hu + Fˆ x(t) − w)T (Hu + Fˆ If the are no constraints, an analytical solution exists that provides the optimum as: x(t)) u = (HT H + λI)−1 HT (w − Fˆ As a receding horizon strategy is used, only the first element of the control sequence, u(t), is sent to the plant and all the computation is repeated at the next sampling time.

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Model Predictive control by Professor E. F. Camacho, Associate Professor C. Bordons (auth.)

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