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Sampled-data generalized predictive control (SDGPC) Lu, Guoqiang
Abstract
This thesis develops a novel predictive control strategy called Sampled-Data Generalized Predictive Control (SDGPC). SDGPC is based on a continuous-time model yet assumes the projected control profile to be piecewise constant, i.e. to be compatible with zero order hold circuit. It thus enjoys both the advantage of continuous-time modeling and the flexibility of digital implementation. SDGPC is shown to be equivalent to an infinite horizon LQ control law under certain conditions. For well-damped open-loop stable systems, the piecewise constant projected control scenario adopted in SDGPC is shown to have benefits such as reduced computational burden, increased numerical robustness etc. When extending SDGPC to tracking design, it is shown that future knowledge of the setpoint significandy improves tracking performance. A two-degree-of-freedom SDGPC based on optimization of two performance indices is proposed. Actuator constraints are considered in an anti-windup framework. It is shown that the nonlinear control problem is equivalent to a linear time-varying problem. The proposed anti-windup algorithm is also shown to have attractive stability properties. Time-delay systems are treated later. It is shown that the Laguerre-filter-based adaptive SDGPC has excellent performance controlling systems with varying time-delay. An algorithm for continuous-time system parameter estimation based on sampled input output data is presented. The effectiveness and the advantages of continuous-time model estimation and the SDGPC algorithm over the pure discrete-time approach are highlighted by an inverted pendulum experiment.
Item Metadata
| Title |
Sampled-data generalized predictive control (SDGPC)
|
| Creator | |
| Publisher |
University of British Columbia
|
| Date Issued |
1996
|
| Description |
This thesis develops a novel predictive control strategy called Sampled-Data Generalized Predictive
Control (SDGPC). SDGPC is based on a continuous-time model yet assumes the projected
control profile to be piecewise constant, i.e. to be compatible with zero order hold circuit. It thus
enjoys both the advantage of continuous-time modeling and the flexibility of digital implementation.
SDGPC is shown to be equivalent to an infinite horizon LQ control law under certain conditions.
For well-damped open-loop stable systems, the piecewise constant projected control scenario adopted
in SDGPC is shown to have benefits such as reduced computational burden, increased numerical
robustness etc. When extending SDGPC to tracking design, it is shown that future knowledge of
the setpoint significandy improves tracking performance. A two-degree-of-freedom SDGPC based
on optimization of two performance indices is proposed. Actuator constraints are considered in an
anti-windup framework. It is shown that the nonlinear control problem is equivalent to a linear
time-varying problem. The proposed anti-windup algorithm is also shown to have attractive stability
properties. Time-delay systems are treated later. It is shown that the Laguerre-filter-based adaptive
SDGPC has excellent performance controlling systems with varying time-delay. An algorithm for
continuous-time system parameter estimation based on sampled input output data is presented. The
effectiveness and the advantages of continuous-time model estimation and the SDGPC algorithm over
the pure discrete-time approach are highlighted by an inverted pendulum experiment.
|
| Extent |
6343712 bytes
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| Genre | |
| Type | |
| File Format |
application/pdf
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| Language |
eng
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| Date Available |
2009-02-19
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| Provider |
Vancouver : University of British Columbia Library
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| Rights |
For non-commercial purposes only, such as research, private study and education. Additional conditions apply, see Terms of Use https://open.library.ubc.ca/terms_of_use.
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| DOI |
10.14288/1.0065201
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| URI | |
| Degree | |
| Program | |
| Affiliation | |
| Degree Grantor |
University of British Columbia
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| Graduation Date |
1996-05
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| Campus | |
| Scholarly Level |
Graduate
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| Aggregated Source Repository |
DSpace
|
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Rights
For non-commercial purposes only, such as research, private study and education. Additional conditions apply, see Terms of Use https://open.library.ubc.ca/terms_of_use.