Pedro Rafael Bolognese Fernandes

NMPC with state-space models obtained through linearization on equilibrium manifold

Abstract This paper presents a Nonlinear Model Predictive Control approach for nonlinear state-space models obtained with the modelling and identification technique recently proposed in literature as Linearization on the Equilibrium Manifold (LEM). The predictive controller that will be applied to the LEM uses the Local Linearization on the Trajectory algorithm (LLT) which simulates the nonlinear plant and calculates optimal control actions based on local linearizations around the simulated trajectory by online minimization of an objective function. The proposed combination of the LEM and LLT techniques is tested with a nonlinear SISO system.