Patent ID: 9134713
Filing Date: 2015-09-15
Classification: G05B

Abstract:
1. A method for controlling a system having a process output y, comprising: by a computer, using a nominal system model, determining a predicted process output ŷ(k) for a time k based on at least one previous manipulated value u(k−1); receiving a discrete process output y(k) from time k; computing an internal reference trajectory r by a computer, using a nominal model predictive control framework, manipulating a value u to cause the process output y to follow the internal reference trajectory r wherein the system is a linear system and the cost function J is defined as: where p is a prediction horizon, Q is a weighting matrix for predicted errors, Δu is a control move of the manipulated value u, R is a weighting matrix for the control move Δu, ε is a slack variable and ρ