LEADER 03497nam 2200457 450 001 9910823657203321 005 20230803043541.0 010 $a3-8325-9362-4 035 $a(CKB)4340000000244378 035 $a(MiAaPQ)EBC5247128 035 $a(Au-PeEL)EBL5247128 035 $a(CaPaEBR)ebr11539856 035 $a(OCoLC)1021807653 035 $a58a1c68a-a534-4072-91d8-3edeb0dd2d03 035 $a(EXLCZ)994340000000244378 100 $a20180521d2013 uy 0 101 0 $aeng 135 $aurcnu|||||||| 181 $ctxt$2rdacontent 182 $cc$2rdamedia 183 $acr$2rdacarrier 200 10$aModel predictive control for nonlinear continuous-time systems with and without time-delays /$fvorgelegt von Marcus Reble 210 1$aBerlin :$cLogos,$d[2013] 210 4$dİ2013 215 $a1 online resource (162 pages) 300 $aPublicationDate: 20130410 311 $a3-8325-3381-8 330 $aLong description: The objective of this thesis is the development of novel model predictive control (MPC) schemes for nonlinear continuous-time systems with and without time-delays in the states which guarantee asymptotic stability of the closed-loop. The most well-studied MPC approaches with guaranteed stability use a control Lyapunov function as terminal cost. Since the actual calculation of such a function can be difficult, it is desirable to replace this assumption by a less restrictive controllability assumption. For discrete-time systems, the latter assumption has been used in the literature for the stability analysis of so-called unconstrained MPC, i.e., MPC without terminal cost and terminal constraints. The contributions of this thesis are twofold. In the first part, we propose novel MPC schemes with guaranteed stability based on a controllability assumption, whereas we extend different MPC schemes with guaranteed stability to nonlinear time-delay systems in the second part. In the first part of this thesis, we derive explicit stability conditions on the prediction horizon as well as performance guarantees for unconstrained MPC. Starting from this result, we propose novel alternative MPC formulations based on combinations of the controllability assumption with terminal cost and terminal constraints. One of the main contributions is the development of a unifying MPC framework which allows to consider both MPC schemes with terminal cost and terminal constraints as well as unconstrained MPC as limit cases of our framework. In the second part of this thesis, we show that several MPC schemes with and without terminal constraints can be extended to nonlinear time-delay systems. Due to the infinite-dimensional nature of these systems, the problem is more involved and additional assumptions are required in the controller design. We investigate different MPC schemes with and without terminal constraints and/or terminal cost terms and derive novel stability conditions. Furthermore, we pay particular attention to the calculation of the involved control design parameters. 606 $aPredictive control 606 $aTime delay systems 615 0$aPredictive control. 615 0$aTime delay systems. 676 $a629.8 700 $aReble$b Marcus$01690958 801 0$bMiAaPQ 801 1$bMiAaPQ 801 2$bMiAaPQ 906 $aBOOK 912 $a9910823657203321 996 $aModel predictive control for nonlinear continuous-time systems with and without time-delays$94067006 997 $aUNINA