Switched linear model predictive controllers for periodic exogenous signals

Abstract

This article develops switched linear controllers for periodic exogenous signals using the framework of a continuous-time model predictive control. In this framework, the control signal is generated by an algorithm that uses receding horizon control principle with an on-line optimisation scheme that permits inclusion of operational constraints. Unlike traditional repetitive controllers, applying this method in the form of switched linear controllers ensures bumpless transfer from one controller to another. Simulation studies are included to demonstrate the efficacy of the design with or without hard constraints.

Keywords:

• periodic set-point signal
• periodic disturbance
• predictive control
• constrained control
• optimisation

Acknowledgements

Peter Gawthrop is a Leverhulme Emeritus Research Fellow and gratefully acknowledges the support of the Leverhulme Trust. The work reported here was accomplished whilst the second author was a Visiting Professor at RMIT University, Melbourne supported by the Australian Advanced Manufacturing Cooperative Research Center (AMCRC). The work reported here is partly supported by the linked EPSRC Grants EP/F068514/1, EP/F069022/1 and EP/F06974X/1 ‘Intermittent control of man and machine’.