title: Model predictive control for a class of systems with isolated nonlinearity.
abstract: The paper is concerned with an overall convergent nonlinear model predictive control design for a kind of nonlinear mechatronic drive systems. The proposed nonlinear model predictive control results in the improvement of regulatory capacity for reference tracking and load disturbance rejection. The design of the nonlinear model predictive controller consists of two steps: the first step is to design a linear model predictive controller based on the linear part of the system at each sample instant, then an overall convergent nonlinear part is added to the linear model predictive controller to combine a nonlinear controller using error driven. The structure of the proposed controller is similar to that of classical PI optimal regulator but it also bears a set-point feed forward control loop, thus tracking ability and disturbance rejection are improved. The proposed method is compared with the results from recent literature, where control performance under both model match and mismatch cases are enlightened.
authors.affiliation: Ningbo Institute of Technology, Zhejiang University, Ningbo 315100, PR China. Electronic address: tjl810@126.com.
authors.forename: Jili
authors.initials: J
authors.lastname: Tao
authors.affiliation: Ningbo Institute of Technology, Zhejiang University, Ningbo 315100, PR China.
authors.forename: Yong
authors.initials: Y
authors.lastname: Zhu
authors.affiliation: Ningbo Institute of Technology, Zhejiang University, Ningbo 315100, PR China.
authors.forename: Qinru
authors.initials: Q
authors.lastname: Fan
keywords: Mechatronic drive systems; Model predictive control; Overall convergent control strategy; State space control