Model Predictive Control System Based on Ladder-Structured GOBF Models

In this work, we address the problem of identification and control of dynamical systems where a generalized orthonormal basis functions (GOBF) model with ladder-structure is used to represent the system. In the identification process, we took a genetic algorithm to optimize the number of functions and the model poles. The identified model is then used as the basis for the implementation of a predictive controller, which incorporates the advantages of this type of modeling in the lack of output feedback. A magnetic levitation system was identified and a model predictive controller was used to stabilize the system. Results show the feasibility of this technique in the control of a real system.

[1]  Gustavo Henrique da Costa Oliveira.  Controle preditivo para processos com incertezas estruturadas baseado em series de funões ortonormais , 1997 .

[2]  Lennart Ljung,et al.  System Identification: Theory for the User , 1987 .

[3]  P ? ? ? ? ? ? ? % ? ? ? ? , 1991 .

[4]  B. Ninness,et al.  A unifying construction of orthonormal bases for system identification , 1994, Proceedings of 1994 33rd IEEE Conference on Decision and Control.

[5]  Leandro Nunes de Castro,et al.  Fundamentals of Natural Computing - Basic Concepts, Algorithms, and Applications , 2006, Chapman and Hall / CRC computer and information science series.

[6]  W. Marsden.  I and J , 2012 .

[7]  Satoru Takenaka.  On the Orthogonal Functions and a New Formula of Interpolation , 1925 .

[9]  C. R. Cutler,et al.  Dynamic matrix control¿A computer control algorithm , 1979 .

[10]  Ricardo J. G. B. Campello,et al.  Takagi–Sugeno Fuzzy Models in the Framework of Orthonormal Basis Functions , 2013, IEEE Transactions on Cybernetics.

[11]  J. Richalet,et al.  Model predictive heuristic control: Applications to industrial processes , 1978, Autom..

[12]  N. Wiener,et al.  Nonlinear Problems in Random Theory , 1964 .

[13]  Sven Strauss.  Advances In Model Based Predictive Control , 2016 .

[14]  P. V. D. Hof,et al.  System identification with generalized orthonormal basis functions , 1994, Proceedings of 1994 33rd IEEE Conference on Decision and Control.

[15]  Eduardo F. Camacho,et al.  Model Predictive Controllers , 2007 .

[16]  O. Nelles.  Nonlinear System Identification: From Classical Approaches to Neural Networks and Fuzzy Models , 2000 .

[17]  Ricardo J. G. B. Campello,et al.  An introduction to models based on Laguerre, Kautz and other related orthonormal functions - part I: linear and uncertain models , 2011, Int. J. Model. Identif. Control..

[18]  P. V. D. Hof,et al.  A generalized orthonormal basis for linear dynamical systems , 1993, Proceedings of 32nd IEEE Conference on Decision and Control.