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This paper is concerned with a Model Predictive Control (MPC) algorithm for dynamic systems described by nonlinear state-space models. A unique feature of the algorithm is the fact that the current value of the manipulated variable (i.e. the decision variable of MPC) is not calculated from an optimisation problem, but from an analytical linear control law. The coefficients of the control law, due...
This paper describes a nonlinear Model Predictive Control (MPC) algorithm with on-line optimal linearisation. Unlike the classical MPC algorithms with successive model linearisation at the current operating point of the process (using the Taylor's series expansion), the best possible linear approximation of the nonlinear predicted output trajectory is repeatedly found in the discussed approach. The...
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