Overview

While conceptually elegant, the generic formulations of nonlinear model predictive control are not ready to use for the stabilization of relatively fast systems. Doctor Alamir presents a successful approach to this problem based on a co-operation between structural considerations and on-line optimization. The balance between structural and optimization aspects of the method is dependent on the system being considered so the many examples developed here aim to transmit a mode of thought rather than a ready-to-use recipe. Among the systems given detailed treatment are:

• double inverted pendulum;
• non-holonomic systems in chained form;
• snake board;
• missile in intercept mission;
• polymerization reactor;
• walking robot;
• under-actuated satellite in failure mode.

In addition, the basic stability results under receding horizon control schemes are revisited using a sampled-time, low-dimensional control parameterization that is mandatory for fast computation and some novel formulations are proposed which offer promising directions for future research.

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9781848005372

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