Tutorial: Implementando Controladores Preditivos Não Lineares através do Ferramental LPV
arXiv:2304.14981
Abstract
Recent works have demonstrated how Linear Parameter Varying Model Predictive Control (LPV MPC) algorithms are able to control nonlinear systems with precision and reduced computational load. Specifically, these schemes achieve comparable performances to state-of-the-art nonlinear MPCs, while requiring the solution of only one quadratic programming problem (thus being real-time capable). In this tutorial paper, we provide a step-by-step overview of how to implement such LPV MPC algorithms, covering from modelling to stability aspects. For illustration purposes, we consider a realistic implementation for a gas-lift petroleoum extraction process, comparing the LPV approach with the becnhmark nonlinear MPC software CasADi.
Main text in portuguese, submitted to the 2023 Simpósio Brasileiro de Automação Inteligente (SBAI 2023)