Predictive Control for Linear and Hybrid Systems 1st Edition by Francesco Borrelli, Alberto Bemporad, Manfred Morari ISBN 1107652871 9781107652873

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Product details:

ISBN 10: 1107652871

ISBN 13: 9781107652873 

Author: Francesco Borrelli, Alberto Bemporad, Manfred Morari

Model Predictive Control (MPC), the dominant advanced control approach in industry over the past twenty-five years, is presented comprehensively in this unique book. With a simple, unified approach, and with attention to real-time implementation, it covers predictive control theory including the stability, feasibility, and robustness of MPC controllers. The theory of explicit MPC, where the nonlinear optimal feedback controller can be calculated efficiently, is presented in the context of linear systems with linear constraints, switched linear systems, and, more generally, linear hybrid systems. Drawing upon years of practical experience and using numerous examples and illustrative applications, the authors discuss the techniques required to design predictive control laws, including algorithms for polyhedral manipulations, mathematical and multiparametric programming and how to validate the theoretical properties and to implement predictive control policies. The most important algorithms feature in an accompanying free online MATLAB toolbox, which allows easy access to sample solutions. Predictive Control for Linear and Hybrid Systems is an ideal reference for graduate, postgraduate and advanced control practitioners interested in theory and/or implementation aspects of predictive control.

Table of contents: 

Part I Basics of Optimization

1. Main concepts
2. Linear and quadratic optimization
3. Numerical methods for optimization
4. Polyhedra and p-collections

Part II Multiparametric Programming
5. Multiparametric nonlinear programming
6. Multiparametric programming: a geometric approach

Part III Optimal Control
7. General formulation and discussion
8. Linear quadratic optimal control
9. Linear 1/∞ norm optimal control

Part IV Constrained Optimal Control of Linear Systems
10. Controllability, reachability and invariance
11. Constrained optimal control
12. Receding horizon control
13. Approximate receding horizon control
14. On-line control computation
15. Constrained robust optimal control

Part V Constrained Optimal Control of Hybrid Systems
16. Models of hybrid systems
17. Optimal control of hybrid systems

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Tags: Francesco Borrelli, Alberto Bemporad, Manfred Morari, Predictive Control, Linear Systems, Hybrid Systems