Terminal State in a Predictive Controller Cost Function
F. Dušek, D. Honc
University of Pardubice
Abstract
In the paper, an impact of a terminal state in a cost function on predictive controller behaviour is discussed for case of a set point tracking task. Attention is paid to the form of the terminal state added to the cost function and its effect to stability and quality of a feedback control. A complete design procedure of the predictive controller based on the state space description of controlled system is shown. The controller design includes the terminal state in a form of deviation from a desired terminal state. The concept of the desired terminal state opens the way to involve additional demands into the controller design. The stabilization effect of the terminal state in case of short control horizon is demonstrated on simulated control examples of a non-minimum phase system (system with unstable zero). The effect of the terminal state on the control quality is discussed, too.
Full paper
Session
Model Predictive Control (Poster)
Reference
Dušek, F., Honc, D.: Terminal State in a Predictive Controller Cost Function. Editors: Fikar, M., Kvasnica, M., In Proceedings of the 17th International Conference on Process Control ’09, Štrbské Pleso, Slovakia, 409–413, 2009
BibTeX
| @inProceedings{pc09-018, | ||
| author | = { | Dušek, F. and Honc, D.}, |
| title | = { | Terminal State in a Predictive Controller Cost Function}, |
| booktitle | = { | Proceedings of the 17th International Conference on Process Control '09}, |
| year | = { | 2009}, |
| pages | = { | 409-413}, |
| editor | = { | Fikar, M. and Kvasnica, M.}, |
| address | = { | Štrbské Pleso, Slovakia}, |
| publisher | = { | Slovak University of Technology in Bratislava}, |
| url | = { | http://www.kirp.chtf.stuba.sk/pc09/data/papers/018.pdf}} |