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This book offers readers a thorough and rigorous introduction to nonlinear model predictive control (NMPC) for discrete-time and sampled-data systems. NMPC schemes with and without stabilizing terminal constraints are detailed, and intuitive examples illustrate the performance of different NMPC variants. NMPC is interpreted as an approximation of infinite-horizon optimal control so that important properties like closed-loop stability, inverse optimality and suboptimality can be derived in a uniform manner. These results are complemented by discussions of feasibility and robustness.An introduction to nonlinear optimal control algorithms yields essential insights into how the nonlinear optimization routine-the core of any nonlinear model predictive controller-works. Accompanying software in MATLAB® and C++ (downloadable from extras.springer.com/), together with an explanatory appendix in the book itself, enables readers to perform computer experiments exploring the possibilities and limitations of NMPC.This book (second edition) has been substantially rewritten, edited and updated to reflect the significant advances that have been made since the publication of its predecessor, including:• a new chapter on economic NMPC relaxing the assumption that the running cost penalizes the distance to a pre-defined equilibrium;• a new chapter on distributed NMPC discussing methods which facilitate the control of large-scale systems by splitting up the optimization into smaller subproblems;• an extended discussion of stability and performance using approximate updates rather than full optimization;• replacement of the pivotal sufficient condition for stability without stabilizing terminal conditions with a weaker alternative and inclusion of an alternative and much simpler proof in the analysis; and• further variations and extensions in response to suggestions from readers of the first edition.Though primarily aimed at academic researchers and practitioners working in control and optimization, the text is self-contained, featuring background material on infinite-horizon optimal control and Lyapunov stability theory that also makes it accessible for graduate students in control engineering and applied mathematics. [Publisher] Lars Grüne has been Professor for Applied Mathematics at the University of Bayreuth, Germany, since 2002 and head of the Chair of Applied Mathematics since 2009. He received his Diploma and Ph.D. in Mathematics in 1994 and 1996, respectively, from the University of Augsburg and his habilitation from the J.W. Goethe University in Frankfurt/M in 2001. He held visiting positions at the Universities of Rome 'La Sapienza' (Italy), Padova (Italy), Melbourne (Australia), Paris IX - Dauphine (France) and Newcastle (Australia). Professor Grüne is Editor-in-Chief of the journal Mathematics of Control, Signals and Systems (MCSS), Associate Editor for the Journal of Optimization Theory and Applications (JOTA) and the Journal of Applied Mathematica and Mechanics (ZAMM) and member of the Managing Board of the GAMM - International Association of Applied Mathematics and Mechanics. Professor Grüne co-authored four books, more than 100 papers and chapters in peer reviewed journals and books and more than 80 articles in conference proceedings. He is member of the steering committee of the International Symposium on Mathematical Theory of Networks and Systems (MTNS) and member of the Program Comittees of various other conferences, including IFAC-NOLCOS symposia, the European Control Conference and the IEEE Conference on Decision and Control. In 2012, Professor Grüne was awarded the Excellence in Teaching Award ("Preis für gute Lehre") from the State of Bavaria. His research interests lie in the area of mathematical systems and control theory with a focus on numerical and optimization-based methods for stability analysis and stabilization of nonlinear systems.Jürgen Pannek has been Professor in the Department of Production Engineering at the University of Bremen (Germany) since 2014. He received his Diploma in Mathematical Economics and his Ph.D. in Mathematics from the University of Bayreuth in 2005 and 2009. He was visiting lecturer at the University of Birmingham (England) in 2008 and Curtin University of Perth (Australia) from 2010 to 2011. Thereafter, he worked as scientific assistant in the Department of Aerospace Engineering at the University of the Federal Armed Forces Munich (Germany). In his research, he focuses on the area of system and control theory from the application point of view regarding robotics, logistics and cyberphysical systems. [Publisher]
Predictive control --- Nonlinear control theory --- Control theory --- Commande prédictive --- Commande non linéaire --- Commande, Théorie de la --- Commande prédictive. --- Commande non linéaire. --- Commande, Théorie de la.
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Nonlinear control theory --- Commande non linéaire --- Nonlinear control theory. --- Commande non linéaire --- Theorie du controle
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commande non linéaire --- manuels d'enseignement supérieur --- Theorie des systemes --- Systemes non lineaires
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Analyse numérique --- Numerical analysis. --- Commande, Théorie de la. --- Control theory --- Commande non linéaire. --- Nonlinear control theory
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Functional analysis --- Control theory. --- Nonlinear control theory. --- Théorie de la commande --- Commande non linéaire --- Control theory --- Nonlinear control theory --- Théorie de la commande --- Commande non linéaire
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Thepastthree decadeshaveseenrapiddevelopmentin the areaofmodelpred- tive control with respect to both theoretical and application aspects. Over these 30 years, model predictive control for linear systems has been widely applied, especially in the area of process control. However, today’s applications often require driving the process over a wide region and close to the boundaries of - erability, while satisfying constraints and achieving near-optimal performance. Consequently, the application of linear control methods does not always lead to satisfactory performance, and here nonlinear methods must be employed. This is one of the reasons why nonlinear model predictive control (NMPC) has - joyed signi?cant attention over the past years,with a number of recent advances on both the theoretical and application frontier. Additionally, the widespread availability and steadily increasing power of today’s computers, as well as the development of specially tailored numerical solution methods for NMPC, bring thepracticalapplicabilityofNMPCwithinreachevenforveryfastsystems.This has led to a series of new, exciting developments, along with new challenges in the area of NMPC.
Predictive control --- Nonlinear control theory --- Commande non linéaire --- Congresses. --- Congrès --- Mechanical Engineering - General --- Mechanical Engineering --- Engineering & Applied Sciences --- Model based predictive control --- Model predictive control --- Engineering. --- System theory. --- Control engineering. --- Robotics. --- Mechatronics. --- Control, Robotics, Mechatronics. --- Systems Theory, Control. --- Automatic control --- Systems, Theory of --- Systems science --- Science --- Philosophy --- Systems theory. --- Mechanical engineering --- Microelectronics --- Microelectromechanical systems --- Automation --- Machine theory --- Control engineering --- Control equipment --- Control theory --- Engineering instruments --- Programmable controllers
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Nonlinear control theory --- Lagrange equations --- Hamiltonian systems --- Commande non linéaire --- Systèmes hamiltoniens --- Congresses --- Congrès --- Operations Research --- Civil & Environmental Engineering --- Engineering & Applied Sciences --- D'Alembert equation --- Equations, Euler-Lagrange --- Equations, Lagrange --- Euler-Lagrange equations --- Lagrangian equations --- Engineering. --- System theory. --- Control engineering. --- Robotics. --- Mechatronics. --- Control, Robotics, Mechatronics. --- Systems Theory, Control. --- Differential equations --- Equations of motion --- Systems, Theory of --- Systems science --- Science --- Philosophy --- Systems theory. --- Mechanical engineering --- Microelectronics --- Microelectromechanical systems --- Automation --- Machine theory --- Control engineering --- Control equipment --- Control theory --- Engineering instruments --- Programmable controllers
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This monograph provides insight and fundamental understanding into the feedback control of nonlinear and hybrid process systems. It presents state-of-the-art methods for the synthesis of nonlinear feedback controllers for nonlinear and hybrid systems with uncertainty, constraints and time-delays with numerous applications, especially to chemical processes. It covers both state feedback and output feedback (including state estimator design) controller designs. Control of Nonlinear and Hybrid Process Systems includes numerous comments and remarks providing insight and fundamental understanding into the feedback control of nonlinear and hybrid systems, as well as applications that demonstrate the implementation and effectiveness of the presented control methods. The book includes many detailed examples which can be easily modified by a control engineer to be tailored to a specific application. This book is useful for researchers in control systems theory, graduate students pursuing their degree in control systems and control engineers.
Nonlinear control theory. --- Process control. --- Commande non linéaire --- Contrôle industriel --- Engineering. --- Systems theory. --- Vibration. --- Control Engineering. --- Vibration, Dynamical Systems, Control. --- Systems Theory, Control. --- Nonlinear control theory --- Process control --- Operations Research --- Civil & Environmental Engineering --- Engineering & Applied Sciences --- Control of industrial processes --- Industrial process control --- Construction --- System theory. --- Dynamical systems. --- Dynamics. --- Control engineering. --- Robotics. --- Mechatronics. --- Control, Robotics, Mechatronics. --- Cycles --- Mechanics --- Sound --- Systems, Theory of --- Systems science --- Science --- Philosophy --- Dynamical systems --- Kinetics --- Mathematics --- Mechanics, Analytic --- Force and energy --- Physics --- Statics --- Mechanical engineering --- Microelectronics --- Microelectromechanical systems --- Automation --- Machine theory --- Control engineering --- Control equipment --- Control theory --- Engineering instruments --- Programmable controllers
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The control of mechanical systems with constraints has been a topic of intense research in the control and dynamical systems community for the past two decades. In particular, systems with velocity and/or acceleration level constraints which appear in many applications like - robotics, spacecrafts, launch vehicles, underwater vehicles - have been studied intensively. This monograph is a self-contained exposition on a switched, finite-time, control strategy for this class of systems. Beginning with basic definitions and mathematical preliminaries, the monograph works its way up to the main control algorithm. Three well-studied applications are chosen to demonstrate the algorithm. Other facets of the algorithm and an alternate algorithm are also briefly touched upon. The monograph is intended for graduate students and researchers in the area of nonlinear control and dynamical systems.
Automatic control --- Nonlinear control theory --- Switching theory --- Mobile robots --- Ground-effect machines --- Submersibles --- Commande automatique --- Commande non linéaire --- Commutation, Théorie de la --- Engineering. --- Systems theory. --- Control Engineering. --- Systems Theory, Control. --- Automation and Robotics. --- Submergibles --- Undersea vehicles --- Underwater vehicles --- Air-bearing vehicles --- Air-cushion vehicles --- Ground pressure vehicles, Minimum --- Ground proximity machines --- Hovercraft --- Control engineering --- Control equipment --- Construction --- System theory. --- Control engineering. --- Robotics. --- Mechatronics. --- Engineering, general. --- Control, Robotics, Mechatronics. --- Industrial arts --- Technology --- Systems, Theory of --- Systems science --- Science --- Philosophy --- Mechanical engineering --- Microelectronics --- Microelectromechanical systems --- Automation --- Machine theory --- Control theory --- Engineering instruments --- Programmable controllers
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Despite many signi?cant advances in the theory of nonlinear control in recent years, the majority of control laws implemented in the European aerospace - dustry are still designed and analysed using predominantly linear techniques applied to linearised models of the aircrafts’ dynamics. Given the continuous increase in the complexity of aircraft control laws, and the corresponding - crease in the demands on their performance and reliability, industrial control law designers are highly motivated to explore the applicability of new and more powerful methods for design and analysis. The successful application of fully nonlinear control techniques to aircraft control problems o?ers the prospect of improvements in several di?erent areas. Firstly, there is the possibility of - proving design and analysis criteria to more fully re?ect the nonlinear nature of the dynamics of the aircraft. Secondly, the time and e?ort required on the part of designers to meet demanding speci?cations on aircraft performance and h- dling could be reduced. Thirdly, nonlinear analysis techniques could potentially reduce the time and resources required to clear ?ight control laws, and help to bridge the gap between design, analysis and ?nal ?ight clearance. Theaboveconsiderationsmotivatedtheresearchpresentedinthisbook,which is the result of a three-year research e?ort organised by the Group for Aeron- tical Research and Technology in Europe (GARTEUR). In September 2004, GARTEUR Flight Mechanics Action Group 17 (FM-AG17) was established to conduct research on ”New Analysis and Synthesis Techniques for Aircraft Control”.
Flight control --- Airplanes --- Nonlinear control theory --- Commande non linéaire --- Mathematical models --- Control systems --- Aeronautics Engineering & Astronautics --- Mechanical Engineering --- Engineering & Applied Sciences --- Nonlinear control theory. --- Mathematical models. --- Control systems (Flight) --- Aeroplanes --- Aircraft, Fixed wing --- Fixed wing aircraft --- Planes (Airplanes) --- Engineering. --- System theory. --- Control engineering. --- Robotics. --- Mechatronics. --- Control, Robotics, Mechatronics. --- Systems Theory, Control. --- Control theory --- Nonlinear theories --- Automatic control --- Guidance systems (Flight) --- Flying-machines --- Aircraft industry --- Systems, Theory of --- Systems science --- Science --- Philosophy --- Systems theory. --- Mechanical engineering --- Microelectronics --- Microelectromechanical systems --- Automation --- Machine theory --- Control engineering --- Control equipment --- Engineering instruments --- Programmable controllers
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