MPC for tracking piecewise constant references for constrained linear systems

On the Solution of the Tracking Problem for Non-linear Systems with Mpc

Nowadays, many Model Predictive Control (MPC) algorithms are available to solve the regulation problem with guaranteed stability for non-linear systems; see Mayne et al. (2000). However, for a practical use of non-linear MPC, some issues are still to be faced. Among them, the fundamental problem of tracking constant exogenous reference signals using output feedback stabilizing regulators is sti...

On Constant Reference Tracking Problem for Fast Linear Constrained Systems

This paper addresses the constant reference tracking problem of linear constrained systems with fast dynamics. Constraints satisfaction and tracking goals are guaranteed by introducing an augmented servo architecture resulting in an analytical closed-form solution. The proposed architecture has been combined with explicit model predictive control (eMPC) method to achieve optimal tracking, const...

Constrained Controller Design for Real-time Delay Recovery in Metro Systems

This study is concerned with the real-time delay recovery problem in metro loop lines. Metro is the backbone of public transportation system in large cities. A discrete event model for traffic system of metro loop lines is derived and presented. Two effective automatic controllers, linear quadratic regulator (LQR) and model predictive controller (MPC), are used to recover train delays. A newly-...

On real-time robust model predictive control

High-speed applications impose a hard real-time constraint on the solution of a model predictive control (MPC) problem, which generally prevents the computation of the optimal control input. As a result, in mostMPC implementations guarantees on feasibility and stability are sacrificed in order to achieve a realtime setting. In this paper we develop a real-time MPC approach for linear systems th...

Piecewise Constant Controlled Linear Fuzzy Systems