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Model Predictive Control

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19 views

Model Predictive Control

Uploaded by

muralimohan.g
Copyright
© © All Rights Reserved
Available Formats
Download as PPTX, PDF, TXT or read online on Scribd
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What is Model Predictive Control?

The Model Predictive Control is an advanced model-based control method that relies on an
accurate mathematical model of the controlled system to predict its future behavior. The
MPC’s control strategy can be regarded as a constrained optimization problem, which consists
of the discretized model of the plant and an objective function that can be tailored to the user’s
control objectives.

Starting from its current state, the behavior of the controlled system variables is predicted over
a finite prediction horizon prediction, thus giving MPC the capability to anticipate system
responses to disturbances and make informed decisions regarding optimal control outputs
while considering system constraints and limitations.

Rather than implementing the entire sequence of optimal control outputs computed during the
optimization process, only the first element is executed, and this process is repeated at the
next time step thanks to a receding horizon strategy.
Model Predictive Control vs classical PID control

Control strategy: By knowing the mathematical model of the controlled system, the MPC
control strategy focuses on how the controlled variables will behave starting from the current
information and the given prediction horizon. Conversely, PI control is a feedback-based
control strategy that computes the control output based on the current error (the difference
between the desired setpoint and the measured process variable) and its past behavior through
proportional, integral and derivative terms.

Robustness to disturbances: MPC, being a predictive control method, can find the best
control action that minimizes the impact of disturbances over the given time horizon, leading
to more stable control performance. Conversely, in the feedback-based control strategy of
PID controllers, only the immediate control action is optimized, making PID controllers
generally more susceptible to disturbances compared to MPC controllers
Constraint management: MPC naturally incorporates constraints on control inputs, state
variables, and performance criteria into its optimization framework. It can enforce constraints
on the system variables throughout the control process. Conversely, PID control does not
directly handle constraint management. To ensure that system variables remain within their
acceptable limits, one common approach is to incorporate limiters or saturation functions into
the control loop to prevent the control output from exceeding the specified limits. However,
unlike MPC, which proactively considers constraints during optimization, this approach in PID
control is more reactive and therefore can be too aggressive in specific scenarios.

Multivariable control: MPC streamlines the control process as it simultaneously controls


multiple process variables and constraints, reducing the need for complex cascade
configurations typically used in a linear control scheme. This is particularly useful in
applications where compliance with limits is critical.
Nonlinearities management: in MPC, nonlinearities in the system can be included in
the model, avoiding linearizing the model for a given operating point and improving the
operation of the system for all conditions [4]. This is advantageous because allows the
controller to capture the system’s behavior across a wide range of operating conditions,
enhancing the controller’s ability to maintain stable and optimal operation under varying
conditions. When nonlinearities are present in the system, PID controllers may require
additional tuning or the implementation of advanced techniques to mitigate their effects.
However, unlike MPC, PID control does not inherently handle nonlinearities in the
system model. Instead, engineers may need to employ techniques such as gain
scheduling, adaptive control, or nonlinear control methods to address nonlinearities in
the system dynamics.
Model Predictive Control vs classical PID control

The adaptability of MPC comes with a trade-off of increased implementation complexity.


Unlike PID control, which is relatively straightforward to design and implement, MPC
requires a more rigorous process that involves accurate modeling of the system dynamics and
computationally intensive calculations.

To implement MPC effectively, a precise mathematical model of the controlled process has to
be developed, including dynamics and constraints. This modeling process can be complex
and time-consuming, especially for systems with nonlinearities or time-varying behavior.

Moreover, the optimization algorithms used in MPC require significant computational


resources to solve the optimization problem in real-time.

However, for systems where accuracy, robustness, and flexibility are critical, the benefits of
MPC often outweigh the added complexity.

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