4 papers
Comparing Model-based Control Strategies for a Quadruple Tank System: Decentralized PID, LMPC, and NMPC
Anders H. D. Christensen, Tobias K. S. Ritschel, Jan Lorenz Svensen +3
This paper compares the performance of a decentralized proportional-integral-derivative (PID) controller, a linear model predictive controller (LMPC), and a nonlinear model predict…
Numerical Discrete-Time Implementation of Continuous-Time Linear-Quadratic Model Predictive Control
Zhanhao Zhang, Anders Hilmar Damm Christensen, Steen Hørsholt +1
This study presents the design, discretization and implementation of the continuous-time linear-quadratic model predictive control (CT-LMPC). The control model of the CT-LMPC is pa…
ESDIRK-based nonlinear model predictive control for stochastic differential-algebraic equations
Anders Hilmar Damm Christensen, Nicola Cantisani, John Bagterp Jørgensen
In this paper, we present a nonlinear model predictive control (NMPC) algorithm for systems modeled by semi-explicit stochastic differential-algebraic equations (DAEs) of index 1.…
Numerical Discretization Methods for the Extended Linear Quadratic Control Problem
Zhanhao Zhang, Jan Lorenz Svensen, Morten Wahlgreen Kaysfeld +3
In this study, we introduce numerical methods for discretizing continuous-time linear-quadratic optimal control problems (LQ-OCPs). The discretization of continuous-time LQ-OCPs is…