Institute for Systems Research Technical Reports

Permanent URI for this collectionhttp://hdl.handle.net/1903/4376

This archive contains a collection of reports generated by the faculty and students of the Institute for Systems Research (ISR), a permanent, interdisciplinary research unit in the A. James Clark School of Engineering at the University of Maryland. ISR-based projects are conducted through partnerships with industry and government, bringing together faculty and students from multiple academic departments and colleges across the university.

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Author: search.filters.author.Chiou, Hung-WenSubject: search.filters.subject.optimal control

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    Frequency Domain Design of Robustly Stable Constrained Model Predictive Controllers
    (1993) Chiou, Hung-Wen; Zafiriou, Evanghelos; ISR
    The robust stability analysis of Constrained Model Predictive Control (CMPC) for linear time invariant and openloop stable processes is the main topic of this paper. Based on the CMPC algorithm, the feedback controller is a piecewise linear operator because of the constraints. This piecewise linear operator can be thought of as an array of linear feedback controllers in parallel, handling different types of predicted active constraint situations. Each term in the linear operator corresponding to the predicted active constraint situation can be decomposed to have an uncertainty block. Hence, the linear operator can be written as a linear closed-form with uncertainty block inside. According to the linear robust stability analysis method, the robust stability of CMPC can be analyzed and the computer aided off-line tuning for the stability of CMPC can also be developed by solving a minimum maximum problem based on the stability analysis method. Some examples are given to show the feasibility of the analysis and tuning methods.
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    Output Constraint Softening for SISO Model Predictive Control
    (1993) Zafiriou, Evanghelos; Chiou, Hung-Wen; ISR
    The presence of constraints in the on-line optimization problem solved by model predictive Control algorithms results in a nonlinear control system, even if the plant and model dynamics are linear. This is the case both for physical constraints, like saturation constraints, as well for performance or safety constraints on outputs or other variables of the process. Performance constraints can usually be softened by allowing violation if necessary. This is advisable, as hard constraints can lead to stability problems. The determination of the necessary degree of softening is usually a trial-and-error matter. This paper utilizes a theoretical framework that allows to relate hard as well as soft constraints to closed-loop stability. We focus on the special case of output constraints for single-input single-output systems and develop a non- conservative condition. This condition allows the determination of the appropriate amount of softening either numerically or via a suitable Nyquist plot.