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A computationally efficient stable dual-mode type nonlinear predictive control algorithm

Ławryńczuk M., Tadej W.

Control and Cybernetics

2008

Vol. 37, no 1

99-132

This paper describes a computationally efficient (sub-optimal) nonlinear predictive control algorithm. The algorithm uses a modified dual-mode approach which guarantees closed-loop stability. In order to reduce the computational burden, instead of online nonlinear optimisation used in the classical dual-mode control scheme, a nonlinear model of the plant is linearised on-line and a quadratic programming problem is solved. Calculation of the terminal set and implementation steps of the algorithm are detailed, especially for input-output models, which are widely used in practice.