15329

1503 دكتري

دكتري

كنترل

اصفهان : دانشگاه صنعتي اصفهان

1398

سيزده، [99]ص. : مصور، جدول،‌ نمودار

فريد شيخ الاسلام، مرضيه كمالي

حيدر علي طالبي

محمدرضا جاهد مطلق، جواد عسگري،‌ محسن مجيري

1398/09/12

كتابنامه

برق

مهندسي برق و كامپيوتر

1398/09/12

2582366

Tube Based Robust Model Predictive Control Design Shekoofeh Jafari Fesharaki shekoofeh jafari@ec iut ac ir November 2019 Department of Electrical and Computer Engineering Isfahan University of Technology Isfahan 84156 83111 Iran Degree Ph D Language Farsi Supervisor Prof Farid Sheikholeslam sheikh@cc iut ac ir Dr Marzieh Kamali m kamali@cc iut ac ir Abstract Model predictive control MPC refers to control algorithms utilizing a model of the con trolled system to predict the future behavior and optimize the performance of the system whilehandling input and state constraints Over the last decades several MPC approaches whichcan handle uncertainties and disturbances which are omnipresent in many applications has re ceived much attention One of the robust MPC methods with some signi cant advantages isthe tube based MPC In this thesis rst a tube based robust MPC is proposed to be appliedin constrained linear systems with parametric uncertainty An estimation method is applied inthis proposed technique to adapt the system model at each sampling time and to reduce theconservatism nature of the tube based MPC as the system model approaches the real model astime passes Moreover a tractable robust nonlinear MPC for continuous time unconstrainedand uncertain systems with stability guaranteed is proposed First a sampled data MPC forthe nominal system is designed to provide a desired performance Then an adaptive slidingmode control SMC is designed to recover the nominal performance for the uncertain system Another tractable robust nonlinear MPC for constrained continuous time systems subject tomatched input uncertainties with stability guarantees is proposed The approach combines asampled data MPC for the nominal system and a variable structure control VSC Finally in stead of VSC a SMC is designed to recover the nominal performance for the uncertain system In all proposed methodes by merging the sampled data MPC and VSC SMC which is used inbetween samples the e ects of the uncertainty are reduced e ciently While the computationalcomplexity of the proposed robust MPC is the same as for the MPC input and state constraintssatisfaction and practical asymptotic stability or asymptotic stability of the closed loop systemare achieved

فريد شيخ الاسلام، مرضيه كمالي

حيدر علي طالبي

محمدرضا جاهد مطلق، جواد عسگري،‌ محسن مجيري