Optimal Transient Response Shaping in Model Predictive Control
| Authors: | Davison Daniel, University of Waterloo, Canada
Milman Ruth, University of Toronto, Canada
Davison Edward J., University of Toronto, Canada |
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| Topic: | 2.4 Optimal Control |
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| Session: | Predictive Control |
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| Keywords: | Predictive control, Cheap control, Transient responses, Multivariable control systems, Discrete-time systems, Linear control systems |
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Abstract
This paper considers the problem of designing a multivariable model predictive controller (MPC) which results in a time response that is smooth, that has a desired speed of response, and that has small cross-channel interaction. This objective is satisfied, subject to fundamental limitations on achievable performance, by introducing a new cheap-control quadratic performance index that has the desired transient response characteristic embedded within it. Examples are included to show that minimizing the proposed performance index improves the transient response when compared to the standard quadratic performance often used in MPC.
