Uma representação aumentada voltada ao Controle Preditivo com desacopladores

Abstract

This work presents an augmented state-space model for decoupling model predictive controllers. The proposed model ensures a decoupled response from the reference to the output in the absence of active constraints. This kind of decoupled response is not usually achieved in closed-loop systems with model predictive controllers due to the decoupling cost. In comparison to similar works, the proposed approach guarantees closed-loop stability by using the standard constrained stabilizing ingredients. Hence, the proposed model is general, such that it can be combined with multiple stabilizing model predictive control strategies and multiple decoupling strategies. The conditions to ensure a decoupled response are discussed and a simulation example is presented to illustrate the benefits of the proposed strategy.