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Extension of efficient predictive control to the nonlinear case

Abstract:

The combined use of the closed-loop paradigm, an augmented autonomous state space formulation, partial invariance, local affine difference inclusion, and polytopic invariance are deployed in this paper to propose an NMPC algorithm which, unlike earlier algorithms that have to tackle online a nonlinear non-convex optimization problem, requires the solution of a simple QP. The proposed algorithm is shown to outperform earlier algorithms in respect of size of region of attraction and online comp...

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Publication status:
Published

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Publisher copy:
10.1002/rnc.982

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Institution:
University of Oxford
Department:
Oxford, MPLS, Engineering Science
Journal:
INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL
Volume:
15
Issue:
5
Pages:
219-231
Publication date:
2005-03-25
DOI:
EISSN:
1099-1239
ISSN:
1049-8923
URN:
uuid:eca3a509-7213-4aec-ab06-b92e47c61c9e
Source identifiers:
63251
Local pid:
pubs:63251

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