Introduction to optimal control: motivation for optimal control; formulation of optimal control criterion (aka cost function, performance index); identification of optimization variables (either controller parameters or control signals):

Discrete-time optimal control over a finite time horizon as an optimization over control sequences:

Model predictive control (MPC) - regulation:

Model predictive control (MPC) - tracking:

Model predictive control (MPC) - soft constraints, prediction vs. control horizon:

Naposledy změněno: pátek, 10. března 2017, 12.10