- Title
- When does QP yield the exact solution to constrained NMPC?
- Creator
- Mare, J.; De Dona, J.; Seron, M.; Haimovich, H.; Ramagge, J.
- Relation
- International Journal of Control Vol. 82, Issue 5, p. 812-821
- Publisher Link
- http://dx.doi.org/10.1080/00207170802320285
- Publisher
- Taylor & Francis
- Resource Type
- journal article
- Date
- 2009
- Description
- It is well known that the optimal control sequence for a linear system with a quadratic cost and linear inequality constraints over a finite optimisation horizon can be computed by means of a quadratic programme (QP). The aim of this article is to investigate when the optimal control sequence for a non-linear single-input single-output system also can be computed via QP. Our main contribution is to show that the optimal control sequence for non-linear systems, with a quadratic cost and linear inequality constraints can be computed in exact form via QP provided the optimisation horizon is no larger than a critical quantity that we name the ‘input–output linear horizon’. The results do not require any linearisation technique and are applicable to general non-linear systems, provided their input–output linear horizon is larger than their relative degree.
- Subject
- quadratic programme; non-linear systems; model predictive control; constraints; relative degree; input-output linear horizon
- Identifier
- uon:8303
- Identifier
- http://hdl.handle.net/1959.13/917425
- Identifier
- ISSN:0020-7179
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