モデル予測制御における閉ループ系の極の設計

抄録

This paper proposes a method to design the weighting factor of control inputs in performance index of model predictive controllers. The weighting factor decides the closed-loop poles of predictive controllers and in this paper, the factor is determined to suppress overshoot peak value in transient response. For this purpose, a procedure to estimate the peak value of the overshoot is proposed. The procedure is derived based on the fact that the output transient response is obtained by a combination of powers of the closed-loop poles. Although the procedure does not give the exact overshoot peak values because the combination will change according the initial values and zeros of the plant, simulation examples give a good transient output response by choosing the weighting factor to minimize the estimated overshoot peak values.