Analysis and Control of Linear Systems
A collection of articles by engineers and mathematicians, this book is about the theory of continuous-state automated systems whose inputs, outputs and internal variables can vary in a continuous manner.
TABLE OF CONTENTS Analysis and Control of Linear Systems
Chapter 12: Predictive Control
Chapter written by Patrick BOUCHER and Didier DUMUR.
The developments presented in this chapter aim to cover the main ideas of predictive control and then to indicate the details of the analytical minimization of the criterion for two individual structures enabling the elaboration of the equivalent polynomial regulator. The choice of adjustment parameters will also be analyzed, providing some simple rules that guarantee the corrected system good stability and robustness.
12.1. General Principles of Predictive Control
Predictive control is based on some relatively old and intuitive ideas [RIC 78], but it has been developed as an advanced control technique mainly since the 1980s. This development was done mainly according to two privileged main lines:
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generalized predictive control (GPC) by Clarke (1985);
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functional predictive control (FPC) by Richalet (1987).
The philosophy of predictive control lies on the definition of five great ideas, common to all the methods.
12.1.1. Anticipative aspect
This anticipative effect is obtained by using explicit knowledge on the evolution of the trajectory to be followed in the future (necessary knowledge required at least on the horizon of some points beyond the present moment). This constraint which makes it possible to make good use of all the resources of the method, necessarily restricts the application field to the control of the systems for which the trajectory to follow is perfectly known and stored pixel by pixel in the computer. It is the case of the numerical control of machine-tools (cutting the pieces), of the control...
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