NONLINEAR INTO STATE AND INPUT DEPENDENT FORM MODEL DECOMPOSITION - Applications to Discrete-time Model Predictive Control with Succesive Time-varying Linearization along Predicted Trajectories

Przemyslaw Orlowski

2010

Abstract

Linearization techniques are well known tools that can transform nonlinear models into linear models. In the paper we employ a successive model linearization along predicted state and input trajectories resulting in linear time-varying model. The nonlinear behaviour is represented in each time sample by recurrent set of linear time-varying models. Solution of the optimal non-linear model predictive control problem is obtained in an iterative way where the most important step is the linearization along predicted trajectory. The main aim of this paper is to analyse how the nonlinear system should be transformed into linear one to ensure possibly fast solution of the model predictive control problem based on the successive linearization method.

Paper Citation

in Harvard Style

Orlowski P. (2010). NONLINEAR INTO STATE AND INPUT DEPENDENT FORM MODEL DECOMPOSITION - Applications to Discrete-time Model Predictive Control with Succesive Time-varying Linearization along Predicted Trajectories . In Proceedings of the 7th International Conference on Informatics in Control, Automation and Robotics - Volume 3: ICINCO, ISBN 978-989-8425-02-7, pages 87-92. DOI: 10.5220/0002928700870092

in Bibtex Style

@conference{icinco10,
author={Przemyslaw Orlowski},
title={NONLINEAR INTO STATE AND INPUT DEPENDENT FORM MODEL DECOMPOSITION - Applications to Discrete-time Model Predictive Control with Succesive Time-varying Linearization along Predicted Trajectories},
booktitle={Proceedings of the 7th International Conference on Informatics in Control, Automation and Robotics - Volume 3: ICINCO,},
year={2010},
pages={87-92},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0002928700870092},
isbn={978-989-8425-02-7},
}

in EndNote Style

TY - CONF
JO - Proceedings of the 7th International Conference on Informatics in Control, Automation and Robotics - Volume 3: ICINCO,
TI - NONLINEAR INTO STATE AND INPUT DEPENDENT FORM MODEL DECOMPOSITION - Applications to Discrete-time Model Predictive Control with Succesive Time-varying Linearization along Predicted Trajectories
SN - 978-989-8425-02-7
AU - Orlowski P.
PY - 2010
SP - 87
EP - 92
DO - 10.5220/0002928700870092