Robust Control of Systems Subject to Contraints
- Creators
- Zheng, Zhi Qiang (Alex)
Abstract
Most practical control problems are dominated by constraints. Although a rich theory has been developed for the robust control of linear systems, very little is known about the robust control of linear systems with constraints. Over the years various model-based algorithms (given a generic term Model Predictive Control) have been used in industry to control complex multivariable systems with operating constraints. The design and tuning of these controllers is difficult for two reasons: 1. Process models are always inaccurate which implies that the controllers must be robust. 2. Even in the simplest case where process rnodels are linear, the overall systems are nonlinear because of the constraints. Despite Model Predictive Control's considerable practical importance, there is very little theory to guide the design and tuning of these controllers for stability and robustness. It is the goal of this thesis to develop such a theory. Specifically, a general framework based on Model Predictive Control is developed to synthesize controllers for discrete-time linear systems subject to constraints with robust stability and performance guarantees.
Additional Information
With my deepest appreciation, I acknowledge my advisor, Manfred Morari, for his support, intellectual guidance and high standards, for allowing me considerable freedom in conducting this research, and for providing me with the "big" picture. I am grateful to John Brady, John Doyle, George Gavalas, Richard Murray, and Thanasis Sideris for their role on my thesis committee. I am also grateful to many who have taught me the knowledge needed to complete this thesis work. I thank Jay Bailey for teaching me kinetics, Jim Beck for complex variables, John Brady for transport phenomena, John Doyle, Håkan Hjarmarson, Richard Murray, and Thanasis Sideris for control theory, Joel Franklin for linear programming, George Galavas for thermodynamics, Zhen-Gang Wang for statistical mechanics, and Steve Wiggins for nonlinear dynamical systems. A number of people have contributed either directly or indirectly to this thesis. In particular, I would like to thank the people whom I have had the pleasure to work with over the last few years: Ragu Balakrishnan, Davor Hrovat, and Mayuresh Kothare. I would also like to thank Mayuresh Kothare for reading an earlier version of this thesis and for providing many useful comments. During my tenure at Caltech (and a brief stay at ETH, Zurich, Switzerland), I have been very fortunate to get to know many (past and present) group members of Manfred Morari (and John Doyle): Serban Agachi, Frank Allgower, Kasuya Asano, Ragu Balakrishnan, Nikos Bekiaris, Richard Braatz, Bruno Dono, Frank Doyle, Thomas Guettinger, Myung Han, Håkan Hjalmarsson, Tyler Holcomb, Iftikhar Huq, Mayuresh Kothare, Frank Laganier, Jay Lee, Wei-Min Lu, Knut Mathisen, George Meski, Vesna Nevistić, Patricia New, Simone Oliveira, Vicky Papageorgaki, Cris Radu, Doug Raven, Carl Rhodes, Arge Secchi, Chris Swartz, Yasushi Terao, Jorge Tierno, Thanos Tsirukis, Matt Tyler, Simon Yeung, and Zheng Yu. I would like to thank them for the numerous discussions on control theory and many other less scientifically involved matters. I especially enjoyed many outings with the WCO group. I greatly appreciate the help from Suresha Guptha on many computer related questions and the help from Adria McMillan and Kathy Lewis on various administrative matters. I also wish to thank Yong-Gang Jin and Hoi Ming Leung for their friendship over the years. Finally I would like to offer my most heartfelt gratitude to my wife Wen. All my thanks and all my love to you, Wen! I would also like to thank my parents for their support and understanding. I would like to dedicate this thesis in memory of our daughter Stephanie Jin-Yu Zheng who once brought so much joy to our life and who will always be in our hearts.Attached Files
Submitted - CDS95-028.pdf
Submitted - cds95-028.ps.gz
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Additional details
- Eprint ID
- 28106
- Resolver ID
- CaltechCDSTR:1995.028
- Created
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2006-10-18Created from EPrint's datestamp field
- Updated
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2019-10-03Created from EPrint's last_modified field
- Caltech groups
- Control and Dynamical Systems Technical Reports