Controle preditivo robusto de sistemas hibridos incertos integrando restrições, logica, e dinamica baseada em series de funções ortonormais / Robust model based predictive control of uncertain hybrid systems integrating constraints, logic, and dynamics based on orthonormal series function

AUTOR(ES)
DATA DE PUBLICAÇÃO

2006

RESUMO

Model-based Predictive Control (MPC) has been attracting interest in both academic and industrial areas since the 1970 s. The MPC methodology has been recently extended to a class of hybrid systems described by dynamics and logic rules. Logical propositions are performed by using, for example, IF /THEN/ELSE operators. Due to performance requirements, the nonhierarchical modeling approaches to hybrid systems have been preferable in MPC schemes. Some methodologies to the modeling and predictive controling of hybrid systems can be found in the literature. These schemes are specially applicable to deterministic hybrid systems whose dynamics are represented in state-space. In some cases, a state-space model is not available or politopic uncertainties can prohibit real time implementations. Over this, other models can be more adequate to parameter estimation. A new approach for modeling and controlling a class of hybrid systems described by interacting physical laws, logic rules, and operational requirements is proposed in this work. As recently suggested in the literature, the logic rules are integrated into the model as equivalent linear inequality constraints involving both continuous and binary variables. The distinguishing feature of the approach proposed is the use of orthonormal series for modeling the process dynamics. The model proposed can be easily estimated with only approximate knowledge of the system dynamics. The order of the model can be reduced by an adequate selection of the orthonormal basis. Uncertainties in the process dynamics are incorporated into the output equation only, reducing the mo dei politopic space. A new strategy to assure robust stability is also presented. The reference tracking is guaranteed by using a terminal set constraint, which does not severally affect the tracking performance of the closed loop system. The approaches proposed in the literature to determine a terminal set constraint use the maximal amplitude of the perturbation,which is generally unknown.- 15 this work, the limits of the uncertainty are estimated. Simulation examples illustrate the main characteristics of the framework proposed

ASSUNTO(S)

predictive control hybrid systems sistemas hibridos proposição (logica) controle robusto stability robust control proposition (logic) controle preditivo estabilidade

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