既約分解表現に基づくモデル予測制御

概要

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Lately, a great deal of attention has been paid to model predictive control in the field of process control. However, stability of a closed-loop system has not been guaranteed since the stability depends on the characteristics of a reference trajectory as well as the dynamics of a plant. Recovery methods for the stability have been proposed, but it seems that these methods cannot guarantee stability except for some special cases. In this paper, we propose a new design method for the model predictive control using a class of all stabilizing controllers, which is called Youla parametrization. In our method, if a free parameter is stable, the stability, which is not guaranteed using a conventional method, is guaranteed irrespective of reference trajectory. Control design is carried out while identifying plant uncertainty, which is unmodeled dynamics of an actual plant. A numerical example is given to illustrate the effectiveness of our proposed method.
一般社団法人日本機械学会の論文
1995-07-25