Extended linearised predictive control: Practical control algorithms for non-linear systems

D. Megias, J. Serrano, M. Y.El Ghoumari

Research output: Contribution to journalArticleResearchpeer-review

1 Citation (Scopus)

Abstract

In this paper two predictive controllers for non-linear systems are presented. Both methods - ELPC and MELPC - are based on a local linearisation of the process at each sampling instant, thus, a priori, should perform better than the controllers designed in terms of a single linearisation about an operating point. On the other hand, their linear formulation leads to computation times much shorter than those provided by non-linear predictive control methods. After their formulation, ELPC and MELPC are compared with a linear predictive controller on a three-degrees-of-freedom robot, showing their good performance and computation times features.

Original languageAmerican English
Pages (from-to)2707-2712
Number of pages6
JournalEuropean Control Conference, ECC 1999 - Conference Proceedings
DOIs
Publication statusPublished - 24 Mar 2015

Keywords

  • non-linear systems
  • predictive control

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