Formulações explícitas para controladores preditivos generalizados: uma abordagem multiparamétrica
Generalized Predictive Control (GPC) is one of the most traditional and popular Modelbased Predictive Control (MPC) techniques in industry and academia and has been applied over decades in several systems to improve the control performance. This type of controller uses process model information to...
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| פורמט: | doctoralThesis |
| שפה: | pt_BR |
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Universidade Federal do Rio Grande do Norte
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| גישה מקוונת: | https://repositorio.ufrn.br/jspui/handle/123456789/30108 |
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| סיכום: | Generalized Predictive Control (GPC) is one of the most traditional and popular Modelbased Predictive Control (MPC) techniques in industry and academia and has been applied over decades in several systems to improve the control performance. This type of
controller uses process model information to predict future system behavior. In addition,
GPC can deal directly with both MIMO systems and process constraints. However, when
considering the constraint set, the controller needs to solve a Quadratic Programming (QP)
(or a Linear Programming – LP) in real time, which can be prohibitive in certain cases, such
as for embedded systems. This work uses multiparametric programming (mp) to generate
an Explicit Piece-wise Affine (PWA) control law for GPC (mp-GPC) which holds the same
control performance without the need to keep solving the optimization problem at each
sample time. Hence, initially, the proposed formulation is compared with GPC based on
online QP. The results show that the performance is maintained, reducing the computational time to calculate the control action. Then, a new format is proposed, which differs from
the last one by the number of parameters needed in the mp formulation. Both propositions
are applied in three different situations: a MIMO system, a process with input-output delays and a underactuated system. A comparison is made by checking the computational
time spent to calculate the control signal, as well as the time required for mp resolution. Finally, studies involving a Hybrid Multiparametric GPC formulation were done , which makes
use of the resolution of a multiparametric Mixed-Integer Linear Programming (mp-MILP).
A nonlinear valve is used as a case study, in which its nonlinear characteristics are treated
as a set of inequalities for the optimization problem, in order to minimize its effects. |
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