Abstract
Nonlinear Model Predictive Controller (NMPC) is intensive in online computation. We propose an efficient formulation for reducing its computational requirements. The proposed algorithm avoids stability-related terminal costs, constraints, and varies the prediction horizon after a simple check. Further, we use a condition based on negative contraction to handle undesirable effects of disturbance on the algorithm. The stability analysis for the proposed algorithm in a Monotonically weighted NMPC framework without stability related constraints is derived. Simulation and experimental validation on benchmark systems illustrate a significant reduction in the average computation time compared to the Monotonically Weighted NMPC without much loss in performance.
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Keerthi Chacko received his B.Tech. degree in applied electronics and instrumentation from Mahatma Gandhi University in 2011 and an M.E. degree in control and instrumentation from Anna University in 2014. His research interests include nonlinear model predictive control, process control system, estimation, and system identification.
Janardhanan Sivaramakrishnan received his M.Tech. and Ph.D. degrees in systems and control engineering from Indian Institute of Technology Bombay, in 2002 and 2006, respectively. Currently, he is a faculty with the Department of Electrical Engineering, Indian Institute of Technology Delhi. He has authored 4 books and has over 130 publications in journals and conferences of international repute to his credit. He is a Senior Member, IEEE and is also the recipient of the INAE Young Engineer Award for his contributions in the field of Control Engineering. His research interests include discrete-time systems, model order reduction, sliding mode control, and robotics.
Indra Narayan Kar received his B.E. degree in electrical engineering from Bengal Engineering College (currently, IIEST), Shibpur, India, in 1988, and his M.Tech. and Ph.D. degrees in electrical engineering from the Indian Institute of Technology Kanpur, India, in 1991 and 1997, respectively. From 1996 to 1998, he was a Research Student with Nihon University, Tokyo, Japan, under the Japanese Government Monbusho scholarship program. He joined the Department of Electrical Engineering, Indian Institute of Technology Delhi, in 1998, where he is currently a Professor and the Institute Chair Professor. He has published over 180 papers in international journals and conferences. His current research interests include nonlinear control, time-delayed control, incremental stability analysis, cyber-physical system, application of control theory in power network, and robotics.
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Chacko, K., Sivaramakrishnan, J. & Kar, I.N. Computationally Efficient Nonlinear MPC for Discrete System with Disturbances. Int. J. Control Autom. Syst. 20, 1951–1960 (2022). https://doi.org/10.1007/s12555-020-0573-8
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DOI: https://doi.org/10.1007/s12555-020-0573-8