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A survey of industrial model predictive control technology
, 2003
"... This paper provides an overview of commercially available model predictive control (MPC) technology, both linear and nonlinear, based primarily on data provided by MPC vendors. A brief history of industrial MPC technology is presented first, followed by results of our vendor survey of MPC control an ..."
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Cited by 460 (4 self)
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This paper provides an overview of commercially available model predictive control (MPC) technology, both linear and nonlinear, based primarily on data provided by MPC vendors. A brief history of industrial MPC technology is presented first, followed by results of our vendor survey of MPC control and identification technology. A general MPC control algorithm is presented, and approaches taken by each vendor for the different aspects of the calculation are described. Identification technology is reviewed to determine similarities and differences between the various approaches. MPC applications performed by each vendor are summarized by application area. The final section presents a vision of the next generation of MPC technology, with an emphasis on potential business and research opportunities.
Fast Model Predictive Control Using Online Optimization
, 2008
"... A widely recognized shortcoming of model predictive control (MPC) is that it can usually only be used in applications with slow dynamics, where the sample time is measured in seconds or minutes. A well known technique for implementing fast MPC is to compute the entire control law offline, in which c ..."
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Cited by 120 (24 self)
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A widely recognized shortcoming of model predictive control (MPC) is that it can usually only be used in applications with slow dynamics, where the sample time is measured in seconds or minutes. A well known technique for implementing fast MPC is to compute the entire control law offline, in which case the online controller can be implemented as a lookup table. This method works well for systems with small state and input dimensions (say, no more than 5), and short time horizons. In this paper we describe a collection of methods for improving the speed of MPC, using online optimization. These custom methods, which exploit the particular structure of the MPC problem, can compute the control action on the order of 100 times faster than a method that uses a generic optimizer. As an example, our method computes the control actions for a problem with 12 states, 3 controls, and horizon of 30 time steps (which entails solving a quadratic program with 450 variables and 1260 constraints) in around 5msec, allowing MPC to be carried out at 200Hz. 1
Constrained state estimation for nonlinear discretetime systems: Stability and moving horizon approximations
 IEEE Transactions on Automatic Control
, 2003
"... Abstract—State estimator design for a nonlinear discretetime system is a challenging problem, further complicated when additional physical insight is available in the form of inequality constraints on the state variables and disturbances. One strategy for constrained state estimation is to employ o ..."
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Cited by 107 (2 self)
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Abstract—State estimator design for a nonlinear discretetime system is a challenging problem, further complicated when additional physical insight is available in the form of inequality constraints on the state variables and disturbances. One strategy for constrained state estimation is to employ online optimization using a moving horizon approximation. In this article we propose a general theory for constrained moving horizon estimation. Sufficient conditions for asymptotic and bounded stability are established. We apply these results to develop a practical algorithm for constrained linear and nonlinear state estimation. Examples are used to illustrate the benefits of constrained state estimation. Our framework is deterministic. Index Terms—Constraints, model predictive control (MPC), moving horizon estimation (MHE), optimization, state estimation. I.
Chromatographic Methods
 In International
, 1992
"... Still the doctor — by a country mile! Preferences for health services in two country towns in northwest New South Wales he relative importance people place on particular healthcare services is a significant factor in meeting their healthcare needs and influencing their health behaviour. ..."
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Cited by 82 (1 self)
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Still the doctor — by a country mile! Preferences for health services in two country towns in northwest New South Wales he relative importance people place on particular healthcare services is a significant factor in meeting their healthcare needs and influencing their health behaviour.
BOptimal coordination of variable speed limits to suppress shock waves
 IEEE Trans. Intell. Transp. Syst
, 2005
"... Optimal coordination of variable speed limits to suppress shock waves∗ ..."
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Cited by 75 (33 self)
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Optimal coordination of variable speed limits to suppress shock waves∗
Model Predictive Control of Coordinated MultiVehicle Formations
 In IEEE Conference on Decision and Control
, 2002
"... A generalized model predictive control (MPC) formulation is derived that extends the existing theory to a multivehicle formation stabilization problem. The vehicles are individually governed by nonlinear and constrained dynamics. The extension considers formation stabilization to a set of permis ..."
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Cited by 69 (10 self)
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A generalized model predictive control (MPC) formulation is derived that extends the existing theory to a multivehicle formation stabilization problem. The vehicles are individually governed by nonlinear and constrained dynamics. The extension considers formation stabilization to a set of permissible equilibria, rather than a unique equilibrium. Simulations for three vehicle formations with input constrained dynamics on configuration space SE(2) are performed using a nonlinear trajectory generation (NTG) software package developed at Caltech. Preliminary results and an outline of future work for scaling/decentralizing the MPC approach and applying it to an emerging experimental testbed are given.
Receding Horizon Control of Nonlinear Systems: A Control . . .
, 2000
"... n Automatic Control, pages 898 907, 1990. J. Shamma and M. Athans. Guaranteed properties of gain scheduled control for linear parametervarying plants. Automatica, pages 559 564, 1991. J. Shamma and M. Athans. Gainscheduling: Potential hazards and possible remedies. IEEE Control Systems Magazine, ..."
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Cited by 62 (5 self)
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n Automatic Control, pages 898 907, 1990. J. Shamma and M. Athans. Guaranteed properties of gain scheduled control for linear parametervarying plants. Automatica, pages 559 564, 1991. J. Shamma and M. Athans. Gainscheduling: Potential hazards and possible remedies. IEEE Control Systems Magazine, 12(3):101 107, June 1992. [Sch96] A. Schwartz. Theory and Implementation of Numerical Methods Based on RungeKutta Integration for Optimal Control Problems. PhD Disser tation, University of California, Berkeley, 1996. [SCH+00] M. Sznaier, J. Cloutier, R. Hull, D. Jacques, and C. Mracek. Reced ing horizon control lyapunov function approach to suboptimal regula tion of nonlinear systems. Journal of Guidance, Control, and Dynamics, 23(3):399 405, 2000. [SD90] M. Sznaier and M. J. Damborg. Heuristically enhanced feedback con trol of constrained discretetime linear systems. Automatica, 26:521 532, 1990. [SMR99] P. Scokaert, D. Mayne, and J. Rawlings. Suboptimal model predictive cont
Receding horizon control for temporal logic specifications.
 In 13th ACM international conference on Hybrid systems: computation and control,
, 2010
"... ABSTRACT In this paper, we describe a receding horizon framework that satisfies a class of linear temporal logic specifications sufficient to describe a wide range of properties including safety, stability, progress, obligation, response and guarantee. The resulting embedded control software consis ..."
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Cited by 61 (9 self)
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ABSTRACT In this paper, we describe a receding horizon framework that satisfies a class of linear temporal logic specifications sufficient to describe a wide range of properties including safety, stability, progress, obligation, response and guarantee. The resulting embedded control software consists of a goal generator, a trajectory planner, and a continuous controller. The goal generator essentially reduces the trajectory generation problem to a sequence of smaller problems of short horizon while preserving the desired systemlevel temporal properties. Subsequently, in each iteration, the trajectory planner solves the corresponding shorthorizon problem with the currently observed state as the initial state and generates a feasible trajectory to be implemented by the continuous controller. Based on the simulation property, we show that the composition of the goal generator, trajectory planner and continuous controller and the corresponding receding horizon framework guarantee the correctness of the system. To handle failures that may occur due to a mismatch between the actual system and its model, we propose a response mechanism and illustrate, through an example, how the system is capable of responding to certain failures and continues to exhibit a correct behavior.
Multiagent model predictive control for transportation networks: Serial versus parallel schemes.
 Engineering Applications of Artificial Intelligence,
, 2008
"... AbstractWe consider multiagent, or distributed, control of transportation networks, like traffic, water, and power networks. These networks typically have a large geographical span, modular structure, and a large number of components that require control. We discuss the necessity of a multiagent ..."
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Cited by 61 (29 self)
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AbstractWe consider multiagent, or distributed, control of transportation networks, like traffic, water, and power networks. These networks typically have a large geographical span, modular structure, and a large number of components that require control. We discuss the necessity of a multiagent control setting in which multiple agents control parts of the network. As potential control methodology we consider Model Predictive Control (MPC) in a multiagent setting. We first outline a framework for modeling transportation networks into subsystems using external variables and then discuss issues that arise when controlling these networks with multiagent MPC. Several approaches to these issues are structured and discussed in terms of the outlined framework.
M.: Multiparametric toolbox (mpt
 Hybrid Systems: Computation and Control
, 2004
"... 2.2 Additional software requirements........................... 4 ..."
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Cited by 60 (8 self)
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2.2 Additional software requirements........................... 4