Observer design in receding-horizon predictive control

Tae Woong Yoon, David W. Clarke

Research output: Contribution to journalArticle

86 Citations (Scopus)

Abstract

This paper considers the robust implementation of a class of predictive control methods represented by GPC. Such controllers are in two-degrees-of-freedom form where there are dynamics in both the forward and the feedback paths. The 'tuning knobs' of predictive controllers determine the characteristic polynomial P c, and for a given P c the observer or prefiltering polynomial T in the feedback path determines the robustness of the closed loop. Previous intuitive guidelines on the selection of T are shown to be limited in their effectiveness. For an open-loop stable plant, a simple criterion is provided which allows the feedback dynamics to be specified so as to enhance robustness. The T polynomial is then chosen to satisfy this criterion. In addition, robust design through T is related to an H -optimal control scheme using the so-called Q-parametrization. Despite its simplicity, the new proposed approach to the design of T is seen to result in robustness comparable with that obtained from the H method.

Original languageEnglish
Pages (from-to)171-191
Number of pages21
JournalInternational Journal of Control
Volume61
Issue number1
Publication statusPublished - 1995 Jan 1
Externally publishedYes

Fingerprint

Polynomials
Feedback
Knobs
Controllers
Degrees of freedom (mechanics)
Tuning

ASJC Scopus subject areas

  • Control and Systems Engineering

Cite this

Observer design in receding-horizon predictive control. / Yoon, Tae Woong; Clarke, David W.

In: International Journal of Control, Vol. 61, No. 1, 01.01.1995, p. 171-191.

Research output: Contribution to journalArticle

@article{d81a254aa4a247b1aeac12518a623c8d,
title = "Observer design in receding-horizon predictive control",
abstract = "This paper considers the robust implementation of a class of predictive control methods represented by GPC. Such controllers are in two-degrees-of-freedom form where there are dynamics in both the forward and the feedback paths. The 'tuning knobs' of predictive controllers determine the characteristic polynomial P c, and for a given P c the observer or prefiltering polynomial T in the feedback path determines the robustness of the closed loop. Previous intuitive guidelines on the selection of T are shown to be limited in their effectiveness. For an open-loop stable plant, a simple criterion is provided which allows the feedback dynamics to be specified so as to enhance robustness. The T polynomial is then chosen to satisfy this criterion. In addition, robust design through T is related to an H ∞-optimal control scheme using the so-called Q-parametrization. Despite its simplicity, the new proposed approach to the design of T is seen to result in robustness comparable with that obtained from the H ∞ method.",
author = "Yoon, {Tae Woong} and Clarke, {David W.}",
year = "1995",
month = "1",
day = "1",
language = "English",
volume = "61",
pages = "171--191",
journal = "International Journal of Control",
issn = "0020-7179",
publisher = "Taylor and Francis Ltd.",
number = "1",

}

TY - JOUR

T1 - Observer design in receding-horizon predictive control

AU - Yoon, Tae Woong

AU - Clarke, David W.

PY - 1995/1/1

Y1 - 1995/1/1

N2 - This paper considers the robust implementation of a class of predictive control methods represented by GPC. Such controllers are in two-degrees-of-freedom form where there are dynamics in both the forward and the feedback paths. The 'tuning knobs' of predictive controllers determine the characteristic polynomial P c, and for a given P c the observer or prefiltering polynomial T in the feedback path determines the robustness of the closed loop. Previous intuitive guidelines on the selection of T are shown to be limited in their effectiveness. For an open-loop stable plant, a simple criterion is provided which allows the feedback dynamics to be specified so as to enhance robustness. The T polynomial is then chosen to satisfy this criterion. In addition, robust design through T is related to an H ∞-optimal control scheme using the so-called Q-parametrization. Despite its simplicity, the new proposed approach to the design of T is seen to result in robustness comparable with that obtained from the H ∞ method.

AB - This paper considers the robust implementation of a class of predictive control methods represented by GPC. Such controllers are in two-degrees-of-freedom form where there are dynamics in both the forward and the feedback paths. The 'tuning knobs' of predictive controllers determine the characteristic polynomial P c, and for a given P c the observer or prefiltering polynomial T in the feedback path determines the robustness of the closed loop. Previous intuitive guidelines on the selection of T are shown to be limited in their effectiveness. For an open-loop stable plant, a simple criterion is provided which allows the feedback dynamics to be specified so as to enhance robustness. The T polynomial is then chosen to satisfy this criterion. In addition, robust design through T is related to an H ∞-optimal control scheme using the so-called Q-parametrization. Despite its simplicity, the new proposed approach to the design of T is seen to result in robustness comparable with that obtained from the H ∞ method.

UR - http://www.scopus.com/inward/record.url?scp=0029235104&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=0029235104&partnerID=8YFLogxK

M3 - Article

AN - SCOPUS:0029235104

VL - 61

SP - 171

EP - 191

JO - International Journal of Control

JF - International Journal of Control

SN - 0020-7179

IS - 1

ER -