Download Nonlinear Model Predictive Control: Theory and Algorithms by Lars Grüne,Jürgen Pannek PDF

By Lars Grüne,Jürgen Pannek

Nonlinear version Predictive regulate is a radical and rigorous creation to nonlinear version predictive keep an eye on (NMPC) for discrete-time and sampled-data platforms. NMPC is interpreted as an approximation of infinite-horizon optimum keep an eye on in order that very important homes like closed-loop balance, inverse optimality and suboptimality could be derived in a uniform demeanour. those effects are complemented by means of discussions of feasibility and robustness. NMPC schemes with and with out stabilizing terminal constraints are unique and intuitive examples illustrate the functionality of other NMPC versions. An creation to nonlinear optimum regulate algorithms supplies perception into how the nonlinear optimisation regimen – the center of any NMPC controller – works. An appendix overlaying NMPC software program and accompanying software program in MATLAB® and C++(downloadable from allows readers to accomplish machine experiments exploring the probabilities and boundaries of NMPC.

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