A globally valid continuous-time GPC through successive system linearisation

A successive off-equilibrium system linearisation approach is proposed to enhance fast control actions in a state space "continuous-time generalised predictive controller" (CGPC). This idea is also extended to achieve nonlinear observations of the system states. It is shown from simulations of an inverted pendulum on a cart that this strategy is much more effective than a nonlinear CGPC in terms of control system analysis, control quality, computation demand and noise robustness.

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