Predictive Control with Constraints 英国剑桥大学教材

UsingtheYoulaParametrization.................... 203 6.5 Problems ................................. 205 7 Tuning 207 7.1 WhatAreWeTryingToDo?...................... 207 7.2 SomeSpecialCases............................ 210 7.2.1 E?ectofControlWeighting................... 211 7.2.2 Mean-LevelControl ....................... 211 7.2.3 DeadbeatControl ........................ 212 7.2.4 ‘Perfect’Control ......................... 213 7.3 Frequency-ResponseAnalysis...................... 218 7.4 DisturbanceModelsandObserverDynamics.............. 221 7.4.1 Disturbancemodels ....................... 221 7.4.2 Observerdynamics........................ 224 7.5 ReferenceTrajectoryandPre-Filter .................. 231 7.6 Problems ................................. 236 8 Robust Predictive Control 239