Details
| Original language | English |
|---|---|
| Pages (from-to) | 2545-2550 |
| Number of pages | 6 |
| Journal | IEEE Control Systems Letters |
| Volume | 7 |
| Publication status | Published - 20 Jun 2023 |
Abstract
We analyse the closed-loop performance of a model predictive control (MPC) for tracking formulation with artificial references. It has been shown that such a scheme guarantees closed-loop stability and recursive feasibility for any externally supplied reference, even if it is unreachable or time-varying. The basic idea is to consider an artificial reference as an additional decision variable and to formulate generalised terminal ingredients with respect to it. In addition, its offset is penalised in the MPC optimisation problem, leading to closed-loop convergence to the best reachable reference. In this paper, we provide a transient performance bound on the closed loop using MPC for tracking. We employ mild assumptions on the offset cost and scale it with the prediction horizon. In this case, an increasing horizon in MPC for tracking recovers the infinite horizon optimal solution.
Keywords
- Costs, Model predictive control, nonlinear systems, Nonlinear systems, Optimization, Predictive control, set-point tracking, Standards, Tracking loops, Transient analysis, transient performance
ASJC Scopus subject areas
- Engineering(all)
- Control and Systems Engineering
- Mathematics(all)
- Control and Optimization
Cite this
- Standard
- Harvard
- Apa
- Vancouver
- BibTeX
- RIS
In: IEEE Control Systems Letters, Vol. 7, 20.06.2023, p. 2545-2550.
Research output: Contribution to journal › Article › Research › peer review
}
TY - JOUR
T1 - Transient Performance of MPC for Tracking
AU - Kohler, Matthias
AU - Krugel, Lisa
AU - Grune, Lars
AU - Muller, Matthias A.
AU - Allgower, Frank
N1 - Funding Information: This work was supported by the Deutsche Forschungsgemeinschaft (DFG, German Research Foundation) under Grant AL 316/11-2-244600449 and Grant GR 1569/13-2-244602989, and in part by the Germany's Excellence Strategy under Grant EXC 2075-390740016.
PY - 2023/6/20
Y1 - 2023/6/20
N2 - We analyse the closed-loop performance of a model predictive control (MPC) for tracking formulation with artificial references. It has been shown that such a scheme guarantees closed-loop stability and recursive feasibility for any externally supplied reference, even if it is unreachable or time-varying. The basic idea is to consider an artificial reference as an additional decision variable and to formulate generalised terminal ingredients with respect to it. In addition, its offset is penalised in the MPC optimisation problem, leading to closed-loop convergence to the best reachable reference. In this paper, we provide a transient performance bound on the closed loop using MPC for tracking. We employ mild assumptions on the offset cost and scale it with the prediction horizon. In this case, an increasing horizon in MPC for tracking recovers the infinite horizon optimal solution.
AB - We analyse the closed-loop performance of a model predictive control (MPC) for tracking formulation with artificial references. It has been shown that such a scheme guarantees closed-loop stability and recursive feasibility for any externally supplied reference, even if it is unreachable or time-varying. The basic idea is to consider an artificial reference as an additional decision variable and to formulate generalised terminal ingredients with respect to it. In addition, its offset is penalised in the MPC optimisation problem, leading to closed-loop convergence to the best reachable reference. In this paper, we provide a transient performance bound on the closed loop using MPC for tracking. We employ mild assumptions on the offset cost and scale it with the prediction horizon. In this case, an increasing horizon in MPC for tracking recovers the infinite horizon optimal solution.
KW - Costs
KW - Model predictive control
KW - nonlinear systems
KW - Nonlinear systems
KW - Optimization
KW - Predictive control
KW - set-point tracking
KW - Standards
KW - Tracking loops
KW - Transient analysis
KW - transient performance
UR - http://www.scopus.com/inward/record.url?scp=85163492382&partnerID=8YFLogxK
U2 - 10.48550/arXiv.2303.10006
DO - 10.48550/arXiv.2303.10006
M3 - Article
AN - SCOPUS:85163492382
VL - 7
SP - 2545
EP - 2550
JO - IEEE Control Systems Letters
JF - IEEE Control Systems Letters
ER -