Continuous-Time Nonlinear Model Predictive Control of Time-Delayed Wiener-Type Systems

S. Oblak and I. Škrjanc (Slovenia)


nonlinear predictive control, continuous system, time delayed system, Wiener-type model


This paper deals with a novel method of continuous-time model predictive control for nonlinear time-delayed sys tems. The problems regarding time delays are solved by incorporating delayed and undelayed model outputs in the control-law derivation. Nonlinear-mapping approximation is also an integral part of the control scheme, and thus re moves the need for output-function invertibility. An illus trative experiment is conducted to present the control qual ity in the case of a time-delayed system and also in various cases of process model mismatch.

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