A Framework for Monitoring Control Updating Period in Real-Time NMPC

Mazen Alamir (1)

1 GIPSA-SYSCO - GIPSA - Systèmes non linéaires et complexité

In this contribution, a general scheme for on-line monitoring of the control updating period in real-time Nonlinear Model Predictive Control (NMPC) schemes is proposed. Such a scheme can be of a great interest when applying NMPC to systems with fast dynamics. The updating scheme is based on the on-line identification of generic models for both solver efficiency and disturbance effects on the optimal cost behavior. A simple example is used to illustrate the efficiency of the proposed methodology.

Mots clés: Nonlinear Model Predictive Control; Real-Time Implementation; Fast Systems; Updating Period Monitoring

Domaines: Optimisation et contrôle [math.OC]; Automatique / Robotique

Mazen Alamir. A Framework for Monitoring Control Updating Period in Real-Time NMPC. L. Magni, D. Raimondo and F. Allgöwer (Ed). Assessement and Future Directions in Nonlinear Model Predictive Control, 384, Springer-Verlag, pp.433-445, 2009, Lecture Notes in Control and Information Sciences, 978-3-642-01094-1. ⟨10.1007/978-3-642-01094-1_34⟩. ⟨hal-00344172⟩