Continuous-time nonlinear model predictive control of time-delayed Wiener-type systems

Authors:
Simon Oblak;Igor Škrjanc
Affiliations:
Faculty of electrical engineering, University of Ljubljana, Ljubljana, Slovenia;Faculty of electrical engineering, University of Ljubljana, Ljubljana, Slovenia
Venue:
MIC'06 Proceedings of the 25th IASTED international conference on Modeling, indentification, and control
Year:
2006

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Abstract

This paper deals with a novel method of continuous-time model predictive control for nonlinear time-delayed systems. The problems regarding time delays are solved by incorporating delayed and undelayed model outputs in the control-law derivation. Nonlinear-mapping approximation is also an integral part of the control scheme, and thus removes the need for output-function invertibility. An illustrative experiment is conducted to present the control quality in the case of a time-delayed system and also in various cases of process model mismatch.