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Stability, Robustness and Real-time Implementation The Gradient Based Nonlinear Model Predictive Control System.

Автор:   Sooyong J.
мягкая обложка
136 страниц
2009 год
Издательство:   Книга по Требованию
Цена:
2400 руб
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Описание:In addition to simulation examples, the NMPC algorithm is also applied to the swing-up control experiment of a rotary inverted pendulum. This NMPC law takes only a finite number of Newton steps in each sampling period instead of solving the complete optimal control problem. This property follows from the exponential convergence of the predicted state error. We also discuss the implementation strategy, state estimation issue, and experimental results. A class of nonlinear model predictive control(NMPC) law based on gradient-based iteration is analyzed and implemented real-time in this book. The stability is shown for a class of discrete-time control-affine system that the NMPC has some inherent robustness property with respect to external disturbances and model error. The robustness of this NMPC is analyzed and quantified with uncertainties. This reduces the computation load and allows for real-time implementation. The key attribute of the NMPC algorithmused here is that it only seeks to reduce the error at the end of the prediction horizon rather than tries to find the optimal solution.


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Real-Time Concepts for Embedded Systems

As advances in microprocessors continue to improve the functionality of ordinary products, embedded systems are helping drive the development of additional home-based innovations. Figure 1.1: Embedded systems at home. 1.1.2 Embedded Systems in the Work Environment Embedded systems have also changed the way people conduct business. Perhaps the most significant example is the Internet, which is really just a very large collection of embedded systems that are interconnected using various networking technologies. Figure 1.2 illustrates what a small segment of the Internet might look like. Figure 1.2: Embedded systems at work. From various individual network end-points (for example, printers, cable modems, and enterprise network routers) to the backbone gigabit switches, embedded technology has helped make use of the Internet necessary to any business model. The network routers and the backbone gigabit switches are examples of real-time embedded systems. Advancements in real-time embedded technology are making Internet connectivity both reliable and responsive, despite the enormous amount of voice and data traffic carried over the network. 1.1.3 Embedded Systems in Leisure Activities At home, at work, even at play, embedded systems are flourishing ...»

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