Handbook of Model Predictive Control

Description

Recent developments in model-predictive control promise remarkable opportunities for designing multi-input, multi-output control systems and improving the control of single-input, single-output systems. This volume provides a definitive survey of the latest model-predictive control methods available to engineers and scientists today. The initial set of chapters present various methods for managing uncertainty in systems, including stochastic model-predictive control. With the advent of affordable and fast computation, control engineers now need to think about using “computationally intensive controls,” so the second part of this book addresses the solution of optimization problems in “real” time for model-predictive control. The theory and applications of control theory often influence each other, so the last section of Handbook of Model Predictive Control rounds out the book with representative applications to automobiles, healthcare, robotics, and finance. The chapters in this volume will be useful to working engineers, scientists, and mathematicians, as well as students and faculty interested in the progression of control theory. Future developments in MPC will no doubt build from concepts demonstrated in this book and anyone with an interest in MPC will find fruitful information and suggestions for additional reading. Front Matter ....Pages i-xxi Front Matter ....Pages 1-1 The Essentials of Model Predictive Control (William S. Levine)....Pages 3-27 Dynamic Programming, Optimal Control and Model Predictive Control (Lars Grüne)....Pages 29-52 Set-Valued and Lyapunov Methods for MPC (Rafal Goebel, Saša V. Raković)....Pages 53-73 Stochastic Model Predictive Control (Ali Mesbah, Ilya V. Kolmanovsky, Stefano Di Cairano)....Pages 75-97 Moving Horizon Estimation (Douglas A. Allan, James B. Rawlings)....Pages 99-124 Probing and Duality in Stochastic Model Predictive Control (Martin A. Sehr, Robert R. Bitmead)....Pages 125-144 Economic Model Predictive Control: Some Design Tools and Analysis Techniques (David Angeli, Matthias A. Müller)....Pages 145-167 Nonlinear Predictive Control for Trajectory Tracking and Path Following: An Introduction and Perspective (Janine Matschek, Tobias Bäthge, Timm Faulwasser, Rolf Findeisen)....Pages 169-198 Hybrid Model Predictive Control (Ricardo G. Sanfelice)....Pages 199-220 Model Predictive Control of Polynomial Systems (Eranda Harinath, Lucas C. Foguth, Joel A. Paulson, Richard D. Braatz)....Pages 221-237 Distributed MPC for Large-Scale Systems (Marcello Farina, Riccardo Scattolini)....Pages 239-258 Scalable MPC Design (Marcello Farina, Giancarlo Ferrari-Trecate, Colin Jones, Stefano Riverso, Melanie Zeilinger)....Pages 259-283 Front Matter ....Pages 285-285 Efficient Convex Optimization for Linear MPC (Stephen J. Wright)....Pages 287-303 Implicit Non-convex Model Predictive Control (Sebastien Gros)....Pages 305-333 Convexification and Real-Time Optimization for MPC with Aerospace Applications (Yuanqi Mao, Daniel Dueri, Michael Szmuk, Behçet Açıkmeşe)....Pages 335-358 Explicit (Offline) Optimization for MPC (Nikolaos A. Diangelakis, Richard Oberdieck, Efstratios N. Pistikopoulos)....Pages 359-385 Real-Time Implementation of Explicit Model Predictive Control (Michal Kvasnica, Colin N. Jones, Ivan Pejcic, Juraj Holaza, Milan Korda, Peter Bakaráč)....Pages 387-412 Robust Optimization for MPC (Boris Houska, Mario E. Villanueva)....Pages 413-443 Scenario Optimization for MPC (Marco C. Campi, Simone Garatti, Maria Prandini)....Pages 445-463 Nonlinear Programming Formulations for Nonlinear and Economic Model Predictive Control (Mingzhao Yu, Devin W. Griffith, Lorenz T. Biegler)....Pages 465-489 Front Matter ....Pages 491-491 Automotive Applications of Model Predictive Control (Stefano Di Cairano, Ilya V. Kolmanovsky)....Pages 493-527 Applications of MPC in the Area of Health Care (G. C. Goodwin, A. M. Medioli, K. Murray, R. Sykes, C. Stephen)....Pages 529-550 Model Predictive Control for Power Electronics Applications (Daniel E. Quevedo, Ricardo P. Aguilera, Tobias Geyer)....Pages 551-580 Learning-Based Fast Nonlinear Model Predictive Control for Custom-Made 3D Printed Ground and Aerial Robots (Mohit Mehndiratta, Erkan Kayacan, Siddharth Patel, Erdal Kayacan, Girish Chowdhary)....Pages 581-605 Applications of MPC to Building HVAC Systems (Nishith R. Patel, James Rawlings)....Pages 607-623 Toward Multi-Layered MPC for Complex Electric Energy Systems (Marija Ilic, Rupamathi Jaddivada, Xia Miao, Nipun Popli)....Pages 625-663 Applications of MPC to Finance (James A. Primbs)....Pages 665-685 Back Matter ....Pages 687-692