NDLI: On the coupling of model predictive control and robust Kalman filtering

Content Provider	IET Digital Library
Author	Zenere, Alberto Zorzi, Mattia
Abstract	Model predictive control (MPC) represents nowadays one of the main methods employed for process control in industry. Its strong suits comprise a simple algorithm based on a straightforward formulation and the flexibility to deal with constraints. On the other hand, it can be questioned its robustness regarding model uncertainties and external noises. Thus, a lot of efforts have been spent in the past years into the search of methods to address these shortcomings. In this study, the authors propose a robust MPC controller which stems from the idea of adding robustness in the prediction phase of the algorithm while leaving the core of MPC untouched. More precisely, they consider a robust Kalman filter that has been recently introduced and they further extend its usability to feedback control systems. Overall the proposed control algorithm allows to maintain all of the advantages of MPC with an additional improvement in performance and without any drawbacks in terms of computational complexity. To test the actual reliability of the algorithm, they apply it to control a servomechanism system characterised by non-linear dynamics.
Starting Page	1873
Ending Page	1881
Page Count	9
ISSN	17518644
Volume Number	12
e-ISSN	17518652
Issue Number	Issue 13, Sep (2018)
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/iet-cta/12/13
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/10.1049/iet-cta.2017.1074
Journal	IET Control Theory & Applications
Publisher Date	2018-04-18
Access Restriction	Open
Rights Holder	© The Institution of Engineering and Technology
Subject Keyword	Actuating And Final Control Device Control Algorithm Control System External Noises Feedback Feedback Control System Filtering Theory Kalman Filter Model Predictive Control Model Uncertainties MPC Nonlinear Control System Nonlinear Dynamical System Nonlinear Dynamics Optimal Control Prediction Phase Predictive Control Process Control Robust Control Robust Kalman Filtering Robust MPC Controller Servomechanism System Servomechanisms Signal Processing Theory Stability in Control Theory Uncertain System
Content Type	Text
Resource Type	Article
Subject	Control and Optimization Control and Systems Engineering Human-Computer Interaction Electrical and Electronic Engineering Computer Science Applications

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