MPC for Nonlinear Systems using Trajectory Linearizations

• This report presents a simple method to extend linear MPC to nonlinear continuous-time systems. The method is based on an approximation of the underlying optimal control problem. Experiments have been carried out and show that the control algorithm manages to control various nonlinear systems.

Subject headings

TEKNIK OCH TEKNOLOGIER  -- Elektroteknik och elektronik -- Reglerteknik (hsv//swe)

ENGINEERING AND TECHNOLOGY  -- Electrical Engineering, Electronic Engineering, Information Engineering -- Control Engineering (hsv//eng)

Keyword

MPC

Nonlinear control

Automatic control

Reglerteknik

Publication and Content Type

vet (subject category)

rap (subject category)