Ebook: Assessment and Future Directions of Nonlinear Model Predictive Control

Thepastthree decadeshaveseenrapiddevelopmentin the areaofmodelpred- tive control with respect to both theoretical and application aspects. Over these 30 years, model predictive control for linear systems has been widely applied, especially in the area of process control. However, today’s applications often require driving the process over a wide region and close to the boundaries of - erability, while satisfying constraints and achieving near-optimal performance. Consequently, the application of linear control methods does not always lead to satisfactory performance, and here nonlinear methods must be employed. This is one of the reasons why nonlinear model predictive control (NMPC) has - joyed signi?cant attention over the past years,with a number of recent advances on both the theoretical and application frontier. Additionally, the widespread availability and steadily increasing power of today’s computers, as well as the development of specially tailored numerical solution methods for NMPC, bring thepracticalapplicabilityofNMPCwithinreachevenforveryfastsystems.This has led to a series of new, exciting developments, along with new challenges in the area of NMPC.

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Foundations and History of NMPC.- Theoretical Aspects of NMPC.- Numerical Aspects of NMPC.- Robustness, Robust Design, and Uncertainty.- State Estimation and Output Feedback.- Industrial Perspective on NMPC.- NMPC and Process Control.- NMPC for Fast Systems.- Novel Applications of NMPC.- Distributed NMPC, Obstacle Avoidance, and Path Planning.

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Foundations and History of NMPC.- Theoretical Aspects of NMPC.- Numerical Aspects of NMPC.- Robustness, Robust Design, and Uncertainty.- State Estimation and Output Feedback.- Industrial Perspective on NMPC.- NMPC and Process Control.- NMPC for Fast Systems.- Novel Applications of NMPC.- Distributed NMPC, Obstacle Avoidance, and Path Planning.

Content:
Front Matter....Pages I-XII
Nonlinear Model Predictive Control: An Introductory Review....Pages 1-16
Hybrid MPC: Open-Minded but Not Easily Swayed....Pages 17-34
Conditions for MPC Based Stabilization of Sampled-Data Nonlinear Systems Via Discrete-Time Approximations....Pages 35-48
A Computationally Efficient Scheduled Model Predictive Control Algorithm for Control of a Class of Constrained Nonlinear Systems....Pages 49-62
The Potential of Interpolation for Simplifying Predictive Control and Application to LPV Systems....Pages 63-76
Techniques for Uniting Lyapunov-Based and Model Predictive Control....Pages 77-91
Discrete-Time Non-smooth Nonlinear MPC: Stability and Robustness....Pages 93-103
Model Predictive Control for Nonlinear Sampled-Data Systems....Pages 105-113
Sampled-Data Model Predictive Control for Nonlinear Time-Varying Systems: Stability and Robustness....Pages 115-129
On the Computation of Robust Control Invariant Sets for Piecewise Affine Systems....Pages 131-139
Nonlinear Predictive Control of Irregularly Sampled Data Systems Using Identified Observers....Pages 141-149
Nonlinear Model Predictive Control: A Passivity-Based Approach....Pages 151-162
Numerical Methods for Efficient and Fast Nonlinear Model Predictive Control....Pages 163-179
Computational Aspects of Approximate Explicit Nonlinear Model Predictive Control....Pages 181-192
Towards the Design of Parametric Model Predictive Controllers for Non-linear Constrained Systems....Pages 193-205
Interior-Point Algorithms for Nonlinear Model Predictive Control....Pages 207-216
Hard Constraints for Prioritized Objective Nonlinear MPC....Pages 217-228
A Nonlinear Model Predictive Control Framework as Free Software: Outlook and Progress Report....Pages 229-238
Robustness and Robust Design of MPC for Nonlinear Discrete-Time Systems....Pages 239-254
MPC for Stochastic Systems....Pages 255-268
NMPC for Complex Stochastic Systems Using a Markov Chain Monte Carlo Approach....Pages 269-281
On Disturbance Attenuation of Nonlinear Moving Horizon Control....Pages 283-294
Chance Constrained Nonlinear Model Predictive Control....Pages 295-304
Close-Loop Stochastic Dynamic Optimization Under Probabilistic Output-Constraints....Pages 305-315
Interval Arithmetic in Robust Nonlinear MPC....Pages 317-326
Optimal Online Control of Dynamical Systems Under Uncertainty....Pages 327-334
State Estimation Analysed as Inverse Problem....Pages 335-346
Minimum-Distance Receding-Horizon State Estimation for Switching Discrete-Time Linear Systems....Pages 347-358
New Extended Kaiman Filter Algorithms for Stochastic Differential Algebraic Equations....Pages 359-366
NLMPC: A Platform for Optimal Control of Feed- or Product-Flexible Manufacturing....Pages 367-381
Experiences with Nonlinear MPC in Polymer Manufacturing....Pages 383-398
Integration of Advanced Model Based Control with Industrial IT....Pages 399-406
Putting Nonlinear Model Predictive Control into Use....Pages 407-417
Integration of Economical Optimization and Control for Intentionally Transient Process Operation....Pages 419-434
Controlling Distributed Hyperbolic Plants with Adaptive Nonlinear Model Predictive Control....Pages 435-441
A Minimum-Time Optimal Recharging Controller for High Pressure Gas Storage Systems....Pages 443-453
Robust NMPC for a Benchmark Fed-Batch Reactor with Runaway Conditions....Pages 455-464
Real-Time Implementation of Nonlinear Model Predictive Control of Batch Processes in an Industrial Framework....Pages 465-472
Non-linear Model Predictive Control of the Hashimoto Simulated Moving Bed Process....Pages 473-483
Receding-Horizon Estimation and Control of Ball Mill Circuits....Pages 485-493
Hybrid NMPC Control of a Sugar House....Pages 495-502
Application of the NEPSAC Nonlinear Predictive Control Strategy to a Semiconductor Reactor....Pages 503-512
Integrating Fault Diagnosis with Nonlinear Model Predictive Control....Pages 513-521
A Low Dimensional Contractive NMPC Scheme for Nonlinear Systems Stabilization: Theoretical Framework and Numerical Investigation on Relatively Fast Systems....Pages 523-535
A New Real-Time Method for Nonlinear Model Predictive Control....Pages 537-550
A Two-Time-Scale Control Scheme for Fast Unconstrained Systems....Pages 551-563
Receding Horizon Control for Free-Flight Path Optimization....Pages 565-572
An Experimental Study of Stabilizing Receding Horizon Control of Visual Feedback System with Planar Manipulators....Pages 573-580
Coordination of Networked Dynamical Systems....Pages 581-589
Distributed Model Predictive Control of Large-Scale Systems....Pages 591-605
Distributed MPC for Dynamic Supply Chain Management....Pages 607-615
Robust Model Predictive Control for Obstacle Avoidance: Discrete Time Case....Pages 617-627
Trajectory Control of Multiple Aircraft: An NMPC Approach....Pages 629-639
Back Matter....Pages 641-642

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Foundations and History of NMPC.- Theoretical Aspects of NMPC.- Numerical Aspects of NMPC.- Robustness, Robust Design, and Uncertainty.- State Estimation and Output Feedback.- Industrial Perspective on NMPC.- NMPC and Process Control.- NMPC for Fast Systems.- Novel Applications of NMPC.- Distributed NMPC, Obstacle Avoidance, and Path Planning.

Content:
Front Matter....Pages I-XII
Nonlinear Model Predictive Control: An Introductory Review....Pages 1-16
Hybrid MPC: Open-Minded but Not Easily Swayed....Pages 17-34
Conditions for MPC Based Stabilization of Sampled-Data Nonlinear Systems Via Discrete-Time Approximations....Pages 35-48
A Computationally Efficient Scheduled Model Predictive Control Algorithm for Control of a Class of Constrained Nonlinear Systems....Pages 49-62
The Potential of Interpolation for Simplifying Predictive Control and Application to LPV Systems....Pages 63-76
Techniques for Uniting Lyapunov-Based and Model Predictive Control....Pages 77-91
Discrete-Time Non-smooth Nonlinear MPC: Stability and Robustness....Pages 93-103
Model Predictive Control for Nonlinear Sampled-Data Systems....Pages 105-113
Sampled-Data Model Predictive Control for Nonlinear Time-Varying Systems: Stability and Robustness....Pages 115-129
On the Computation of Robust Control Invariant Sets for Piecewise Affine Systems....Pages 131-139
Nonlinear Predictive Control of Irregularly Sampled Data Systems Using Identified Observers....Pages 141-149
Nonlinear Model Predictive Control: A Passivity-Based Approach....Pages 151-162
Numerical Methods for Efficient and Fast Nonlinear Model Predictive Control....Pages 163-179
Computational Aspects of Approximate Explicit Nonlinear Model Predictive Control....Pages 181-192
Towards the Design of Parametric Model Predictive Controllers for Non-linear Constrained Systems....Pages 193-205
Interior-Point Algorithms for Nonlinear Model Predictive Control....Pages 207-216
Hard Constraints for Prioritized Objective Nonlinear MPC....Pages 217-228
A Nonlinear Model Predictive Control Framework as Free Software: Outlook and Progress Report....Pages 229-238
Robustness and Robust Design of MPC for Nonlinear Discrete-Time Systems....Pages 239-254
MPC for Stochastic Systems....Pages 255-268
NMPC for Complex Stochastic Systems Using a Markov Chain Monte Carlo Approach....Pages 269-281
On Disturbance Attenuation of Nonlinear Moving Horizon Control....Pages 283-294
Chance Constrained Nonlinear Model Predictive Control....Pages 295-304
Close-Loop Stochastic Dynamic Optimization Under Probabilistic Output-Constraints....Pages 305-315
Interval Arithmetic in Robust Nonlinear MPC....Pages 317-326
Optimal Online Control of Dynamical Systems Under Uncertainty....Pages 327-334
State Estimation Analysed as Inverse Problem....Pages 335-346
Minimum-Distance Receding-Horizon State Estimation for Switching Discrete-Time Linear Systems....Pages 347-358
New Extended Kaiman Filter Algorithms for Stochastic Differential Algebraic Equations....Pages 359-366
NLMPC: A Platform for Optimal Control of Feed- or Product-Flexible Manufacturing....Pages 367-381
Experiences with Nonlinear MPC in Polymer Manufacturing....Pages 383-398
Integration of Advanced Model Based Control with Industrial IT....Pages 399-406
Putting Nonlinear Model Predictive Control into Use....Pages 407-417
Integration of Economical Optimization and Control for Intentionally Transient Process Operation....Pages 419-434
Controlling Distributed Hyperbolic Plants with Adaptive Nonlinear Model Predictive Control....Pages 435-441
A Minimum-Time Optimal Recharging Controller for High Pressure Gas Storage Systems....Pages 443-453
Robust NMPC for a Benchmark Fed-Batch Reactor with Runaway Conditions....Pages 455-464
Real-Time Implementation of Nonlinear Model Predictive Control of Batch Processes in an Industrial Framework....Pages 465-472
Non-linear Model Predictive Control of the Hashimoto Simulated Moving Bed Process....Pages 473-483
Receding-Horizon Estimation and Control of Ball Mill Circuits....Pages 485-493
Hybrid NMPC Control of a Sugar House....Pages 495-502
Application of the NEPSAC Nonlinear Predictive Control Strategy to a Semiconductor Reactor....Pages 503-512
Integrating Fault Diagnosis with Nonlinear Model Predictive Control....Pages 513-521
A Low Dimensional Contractive NMPC Scheme for Nonlinear Systems Stabilization: Theoretical Framework and Numerical Investigation on Relatively Fast Systems....Pages 523-535
A New Real-Time Method for Nonlinear Model Predictive Control....Pages 537-550
A Two-Time-Scale Control Scheme for Fast Unconstrained Systems....Pages 551-563
Receding Horizon Control for Free-Flight Path Optimization....Pages 565-572
An Experimental Study of Stabilizing Receding Horizon Control of Visual Feedback System with Planar Manipulators....Pages 573-580
Coordination of Networked Dynamical Systems....Pages 581-589
Distributed Model Predictive Control of Large-Scale Systems....Pages 591-605
Distributed MPC for Dynamic Supply Chain Management....Pages 607-615
Robust Model Predictive Control for Obstacle Avoidance: Discrete Time Case....Pages 617-627
Trajectory Control of Multiple Aircraft: An NMPC Approach....Pages 629-639
Back Matter....Pages 641-642
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