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Author: Joanna Zietkiewicz

Affiliation: Poznan University of Technology, Poland

Keyword(s): Predictive Control, Linear Quadratic Control, Feedback Linearization, Nonlinear Control.

Related Ontology Subjects/Areas/Topics: Engineering Applications ; Informatics in Control, Automation and Robotics ; Intelligent Control Systems and Optimization ; Optimization Algorithms ; Robotics and Automation ; Signal Processing, Sensors, Systems Modeling and Control

Abstract: The subject of the article concerns a constrained predictive control with feedback linearization (FBL) applied for multiple-input and multiple-output (MIMO) system. It relies on finding a compromise in every step between feasible and optimal linear quadratic (LQ) control by minimization of one variable. Behaviour of model signals in function of minimized variable is investigated, in order to assure the optimality of the solution. LQ control based applications for feedback linearized models do not meet the problem of choosing weights in linear quadratic cost function. That important problem is solved here by comparison of the cost function with that obtained for the linear approximated system in the operating point. That provides satisfactory behaviour and also justifies the simplified approach relied on minimization of only one variable for MIMO system.

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Paper citation in several formats:
Zietkiewicz, J. (2014). Input and State Constrained Nonlinear Predictive Control - Application to a Levitation System. In Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO; ISBN 978-989-758-039-0; ISSN 2184-2809, SciTePress, pages 274-279. DOI: 10.5220/0005055502740279

@conference{icinco14,
author={Joanna Zietkiewicz.},
title={Input and State Constrained Nonlinear Predictive Control - Application to a Levitation System},
booktitle={Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO},
year={2014},
pages={274-279},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0005055502740279},
isbn={978-989-758-039-0},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO
TI - Input and State Constrained Nonlinear Predictive Control - Application to a Levitation System
SN - 978-989-758-039-0
IS - 2184-2809
AU - Zietkiewicz, J.
PY - 2014
SP - 274
EP - 279
DO - 10.5220/0005055502740279
PB - SciTePress

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