Model Predictive Control 4 - Dual mode and infinite horizon predictive control

Model Predictive Control 4 - Dual mode and infinite horizon predictive control

Follow Model Predictive Control 4 - Dual mode and infinite horizon predictive control
Share on
Copy link to clipboard

This collection of videos is intended to provide videos resources to assist you with your self-study for topics in model predictive control. The main target audience is masters students and doctorate students who need to know enough about MPC to use it effectively in their research. The intention i…

The University of Sheffield


    • Apr 28, 2014 LATEST EPISODE
    • infrequent NEW EPISODES
    • 13m AVG DURATION
    • 11 EPISODES


    More podcasts from The University of Sheffield

    Search for episodes from Model Predictive Control 4 - Dual mode and infinite horizon predictive control with a specific topic:

    Latest episodes from Model Predictive Control 4 - Dual mode and infinite horizon predictive control

    Optimal Predictive Control 8 - numerical examples and MATLAB

    Play Episode Listen Later Apr 28, 2014 11:52


    Uses MATLAB to illustrate the OMPC and SOMPC algorithms in the constraint free and regulation case. Both are guaranteed stable, however whereas OMPC gives zero perturbations (well-posed optimisation), SOMPC gives non-zero perturbations and a prediction mismatch. Nevertheless the SOMPC compensator tends towards OMPC and has a small prediction mismatch for high control horizons.

    Optimal Predictive Control 11 - disturbance estimates with an observer

    Play Episode Listen Later Apr 28, 2014 10:39


    Earlier videos assumed the state and disturbance were known whereas in practice these need to be estimated. This video gives a brief review of he impact of including an observer. Critically, although nominal stability results are unaffected, performance can be seriously degraded. Also includes MATLAB comparisons with the independent model approach.

    Optimal Predictive Control 9 - tracking and disturbance rejection

    Play Episode Listen Later Apr 28, 2014 16:31


    Extends the earlier videos to include non-zero targets and disturbances. Demonstrates how near identical algebra and optimisation may be applicable by making use of superposition and deviation variables. Makes use of unbiased predictions and performance indices discussed in chapter 1. MATLAB examples are included.

    Optimal Predictive Control 10 - disturbance estimates with an independent model

    Play Episode Listen Later Apr 28, 2014 13:03


    Earlier videos assumed the state and disturbance were known whereas in practice these need to be estimated. This video gives a brief review of he impact of using an independent model as an observer. Critically, although nominal stability results are unaffected, performance can be seriously degraded. Includes MATLAB comparisons.

    Optimal Predictive Control 4 - analysing the performance index

    Play Episode Listen Later Apr 28, 2014 16:29


    Analyses each component of the performance index in turn and demonstrates through argument and MATLAB examples how this has a very simple (and well conditioned) structure. Shows the optimised control law is independent of the control horizon.

    Optimal Predictive Control 7 - stability with infinite horizons and the tail

    Play Episode Listen Later Apr 28, 2014 13:25


    Introduces analysis and anticipation of closed-loop stability. Shows how the use of infinite horizons in conjunction with the tail enables guarantees of stability for the nominal case. Shows how dual-mode approaches, regardless of stabilising terminal mode, can meet these criteria.

    Optimal Predictive Control 5 - suboptimal dual mode MPC

    Play Episode Listen Later Apr 28, 2014 11:35


    Uses the concept of a dual-mode predictive in OMPC and allows some modification to give a more general dual-mode approach (Subopotimal MPC). Demonstrates how the algebra and computation is almost identical, but the performance index for SOMPC has a slightly more complex structure than OMPC which means the control law is also dependent on the control horizon.

    Optimal Predictive Control 6 - well posed recursive decision making

    Play Episode Listen Later Apr 28, 2014 10:36


    Introduces concepts of consistent recursive decision making, that is how we ensure the optimisation at the current sample has a synergy with that taken at the previous sample. This is a prerequisiste for the expectation of good behaviour/stability. It is shown how the concept of the tail captures this requirement.

    Optimal Predictive Control 3 - The performance index

    Play Episode Listen Later Apr 28, 2014 15:59


    Demonstrates how predictions based around the global unconstrained optimal can be substituted into the performance index to give a simple cost function. Introduces the augmented model as a mechanism for keeping the algebra very simple and transparent. Uses Lyapunov to deal with summations over an infinite horizon. Includes MATLAB code for computing the parameters.

    Optimal Predictive Control 2 - prediction structures and d.o.f.

    Play Episode Listen Later Apr 28, 2014 15:00


    Shows how the 'global' unconstrained optimal can be embedded within system predictions and also how to add degrees of freedom which can be used for fine tuning. Gives fine details of the associated predictions which are analogous to developments in chapter 1.

    Optimal Predictive Control 1 - Introduction

    Play Episode Listen Later Apr 28, 2014 8:49


    Gives the human or philosophical thinking behind optimal predictive control and explains why this is an intuitively obvious approach to predictive control algorithm design. Implicitly builds on insights developed in chapter 3.

    Claim Model Predictive Control 4 - Dual mode and infinite horizon predictive control

    In order to claim this podcast we'll send an email to with a verification link. Simply click the link and you will be able to edit tags, request a refresh, and other features to take control of your podcast page!

    Claim Cancel