University of Illinois Urbana-Champaign

Model predictive control

Yue, Haoliang

This item is only available for download by members of the University of Illinois community. Students, faculty, and staff at the U of I may log in with your NetID and password to view the item. If you are trying to access an Illinois-restricted dissertation or thesis, you can request a copy through your library's Inter-Library Loan office or purchase a copy directly from ProQuest.

Permalink

https://hdl.handle.net/2142/100058

Description

Title
Model predictive control
Author(s)
Yue, Haoliang
Contributor(s)
Belabbas, Mohamed-Ali
Issue Date
2018-05
Keyword(s)
  • Control System
  • MPC
  • Model Predictive Control
Abstract
Model predictive control (MPC) refers to a family control method which applies to discrete and continuous-time process models. The future states are predicted at each time instance using the known state and system model, up to a specific time instance. The future control inputs are calculated by optimizing a determined criterion to keep the process as close as possible to the reference trajectory. An explicit solution can be obtained if the criterion is quadratic, the model is linear, and there are no constraints. Comparing to the proportional–integral–derivative (PID) feedback control, feedforward control, and inverse dynamic control that is learned in other courses, MPC has its advantages and is widely used in industry. This thesis is done under the supervision of professor Belabbas, and the main progress is to read academic papers, books, and rederived the mathematical equations of MPC using knowledge of control and linear algebra. Derivations were implemented into MATLAB functions and the control algorithm is simulated on several different models, as well as the reaction wheel pendulum in the control lab. The state-space model is obtained in continuous time domain by LaGrange formalism, and then the equations of motion were transformed into the discrete time domain. A goal is to compare the qualitative performance of PID and MPC controller on this particular system setup.
Type of Resource
text
Language
en
Permalink
http://hdl.handle.net/2142/100058

Owning Collections

Senior Theses - Electrical and Computer Engineering PRIMARY
The best of ECE undergraduate research