Department of Systems and Control

EC 6th FW project, COOP-CT-2006-031638
PlasmaIt GmbH, Lebring, Austria
Wasteater treatment plant Domžale-Kamnik, Slovenia

2006 - 2008

Development of multi-parametric predictive controllers based on constrained linear and hybrid models, suitable for practical application in low-level control.

Offset-free tracking formulations for MPC controllers featuring efficient disturbance rejection based on the Kalman filter have been applied with explicit (multiparametric) MPC controllers that have been previously used only with specific tracking implementations.

Local linear analysis for offset-free tracking formulations for MPC controllers featuring efficient disturbance rejection based on the Kalman filter is provided. Analysis results may be visualised in time domain, frequency domain, or on the complex plane. It is required for tuning of feedback properties of MPC controllers for efficient and robust performance, which is most important in low-level control applications. Analysis may be performed with plant-to-model mismatch, with a set of candidate true models. With online MPC controllers, analysis is performed for the unconstrained region; with explicit (multiparametric) MPC controllers, the performance in constrained regions may also be examined.

Practical implementation of small-scale MPC problems for low-level control application using explicit MPC is simplified.
Explicit MPC eliminates the need for on-line optimization by solving the optimization problem parametrically off-line (in advance), allowing control implementation using inexpensive microcontrollers or programmable logic controllers.

samo.gerksic@ijs.si