Model Predictive Control (MPC) is the de facto standard in advanced industrial automation systems. There are two main formulations of the MPC algorithm: an implicit one and an explicit MPC one. The first requires an optimization problem to be solved on-line, which is the main limitation when dealing with hard real-time applications. As the implicit MPC algorithm cannot be guaran- teed in terms of execution time, in many applications the explicit MPC solution is preferable. In order to deal with systems integrating mixed logic and dynam- ics, the class of the hybrid and piecewise affine models (PWA) were introduced and tackled by the explicit MPC strategy. However, the resulting controller complexity leads to a requirement on the CPU/memory combination which is as strict as the number of states, inputs and outputs increases. To reduce drasti- cally the complexity of the explicit controller while preserving the controller’s performance, a strategy combining switched MPC with discontinuous simpli- cial PWA models is introduced in this thesis. The latter is proven to be circuit implementable, e.g., in FPGA. To ensure that closed-loop stability properties are guaranteed, a stability analysis tool is proposed which exploits suitable and possibly discontinuous PWA Lyapunov-like functions. The tool requires solving offline a linear programming problem. Moreover, the tool is able to compute an invariant set for the closed-loop system, as well as ultimate boundedness and input-to-state stability properties.
| Identifer | oai:union.ndltd.org:unitn.it/oai:iris.unitn.it:11572/368455 |
| Date | January 2012 |
| Creators | Trimboli, Sergio |
| Contributors | Trimboli, Sergio, Bemporad, Alberto |
| Publisher | Università degli studi di Trento, place:TRENTO |
| Source Sets | Università di Trento |
| Language | English |
| Detected Language | English |
| Type | info:eu-repo/semantics/doctoralThesis |
| Rights | info:eu-repo/semantics/openAccess |
| Relation | firstpage:1, lastpage:86, numberofpages:86 |
Page generated in 0.0017 seconds