Conference Proceedings
Globally valid continuous-time GPC through successive system linearisations
E Ronco, T Arsan, PJ Gawthrop, DJ Hill
Proceedings of the IEEE Conference on Decision and Control | Published : 1999
Abstract
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 non-linear 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 non-linear CGPC in terms of control system analysis, control quality, computation demand and noise robustness.