Model-Based Predictive Control: A Practical Approach

Introduction Common Linear Models Used in Model Predictive Control Prediction in Model Predictive Control Predictive Control-The Basic Algorithm Examples - Tuning Predictive Control and Numerical Conditioning Stability Guarantees and Optimising Performance Closed-Loop Paradigm Constraint Handling and Feasibility Issues in MPC Improving Robustness-The Constraint Free Case The Relationship Between Modelling and the Robustness of MPC Robustness of MPC During Constraint Handling and Invariant Sets Optimisation and Computational Efficiency in Predictive Control Predictive Functional Control Multirate Systems Modelling for Predictive Control Appendices Conclusion