nonlinear mpc controller
Touraj Eslami
Xk=f(Xk-1,Uk-1)
Yk=g(Xk-1)
To this format :
Xk+Np=Fk*Xk-1+Gk*Uk-1+Hk *ΔU
When we perform Taylor series expansion to linearize the system around the trajectory point, we change the states to a linear format with a deviation term, (X_NL=X ̅+∆X, U_NL=U ̅+∆U and the same for Y)
Here is my question, what should I use for Uk-1 and Xk-1 ? I know they aren’t the actual state but the deviation term, then what is the amount of these terms ? is it related to the cycle time? or I have to neglect them and just use the Hk*ΔU term to optimize the system?
thank you in advance,
Touraj
John Hedengren
Dear Touraj,
There is the discrete state space model in Gekko that may be helpful: https://apmonitor.com/wiki/index.php/Apps/DiscreteStateSpace If you have Gekko code that you’d like help with, please post to StackOverflow with tag [gekko]: https://stackoverflow.com/questions/tagged/gekko You can also write out the model algebraically with sets if you’d like additional control of the model form. Gekko allows any term (such as Delta U) to be optimized by including it as an MV.
Best Regards,
John Hedengren
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