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A tool to analyze robust stability for constrained nonlinear MPC
Santos, Lino O.; Biegler, Lorenz T.; Castro, José A. A. M.A sufficient condition for robust asymptotic stability of nonlinear constrained model predictive control (MPC) is derived with respect to plant/model mismatch. This work is an extension of a previous study on the unconstrained nonlinear MPC problem, and is based on nonlinear programming sensitivity concepts. It addresses the discrete time state feedback problem with all states measured. A strategy to estimate b...
On-line implementation of nonlinear MPC: an experimental case study
Santos, Lino O.; Afonso, Paulo A. F. N. A.; Castro, José A. A. M.; Oliveira, Nuno M. C.; Biegler, Lorenz T.A nonlinear model predictive control algorithm is implemented on-line to control the liquid level and temperature in a pilot plant CSTR, where an irreversible exothermic chemical reaction is simulated experimentally by steam injection. The dynamic behavior of the pilot plant reactor is represented using a mechanistic, first principle model and a comparison between off-line simulation and experimental data is pr...
A tool to analyze robust stability for model predictive controllers
Santos, Lino O.; Biegler, Lorenz T.A strategy based on Nonlinear Programming (NLP) sensitivity is developed to establish stability bounds on the plant/model mismatch for a class of optimization-based Model Predictive Control (MPC) algorithms. By extending well-known nominal stability properties for these controllers, we derive a sufficient condition for robust stability of these controllers. This condition can also be used to assess the extent o...
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