000181940 001__ 181940
000181940 005__ 20190316235512.0
000181940 037__ $$aCONF
000181940 245__ $$aMPC for tracking periodic reference signals
000181940 269__ $$a2012
000181940 260__ $$c2012
000181940 336__ $$aConference Papers
000181940 520__ $$aThis paper is devoted to the design of a predictive controller for constrained linear systems to track periodic references. The only assumption on the dynamics of the reference is that it is periodic and its period is known. It is also assumed that the reference signal is a priori known by the controller. Inspired in the hierarchical control scheme based on the trajectory planification, the ideas of the MPC for tracking [Limon et al., 2008] are extended to this case. The proposed predictive controller has the future sequence of inputs and an artificial reference as decision variables. The cost function is divided into two terms: one penalizes the tracking error with the artificial reference and other penalizes the deviation of the artificial reference to the reference to be tracked. Stability is ensured thanks to the addition of two constraints: a terminal constraint on the predicted trajectory and a constraint that enforces the artificial reference to be periodic. It is proved that the proposed controller is recursively feasible and the controlled system satisfies the hard constraints, is asymptotically stable and converges to the best possible reachable trajectory. The properties of the proposed controller are illustrated in an example.
000181940 700__ $$aLimon, D.
000181940 700__ $$aAlamo, T.
000181940 700__ $$aMunoz de la Pena, D.
000181940 700__ $$0(EPFLAUTH)214806$$g214806$$aZeilinger, Melanie Nicole
000181940 700__ $$g207237$$aJones, Colin$$0246471
000181940 700__ $$aPereira, M.
000181940 7112_ $$dAugust 23-27$$cNoordwijkerhout, The Netherlands$$aIFAC Conference on Nonlinear Model Predictive Control
000181940 773__ $$tProceedings of the IFAC Conference on Nonlinear Model Predictive Control
000181940 8564_ $$uhttps://infoscience.epfl.ch/record/181940/files/NMPC12_0067_FI.pdf$$zPreprint$$s107236$$yPreprint
000181940 909C0 $$0252053$$pLA
000181940 909CO $$pSTI$$ooai:infoscience.tind.io:181940$$qGLOBAL_SET$$pconf
000181940 917Z8 $$x207237
000181940 937__ $$aEPFL-CONF-181940
000181940 973__ $$rREVIEWED$$sPUBLISHED$$aEPFL
000181940 980__ $$aCONF