模型预测控制器的优化问题怎么表示
时间: 2024-05-28 13:11:25 浏览: 8
模型预测控制器的优化问题可以表示为以下形式:
minimize J(x,u) subject to:
x(k+1) = Ax(k) + Bu(k) + Bd(k)
y(k) = Cx(k) + Du(k)
x(0) = x0
where:
J(x,u) is the cost function, which is typically a sum of quadratic terms that penalize deviations from desired setpoints and control inputs
x is the state vector of the system at time k
u is the control input at time k
A, B, C, and D are matrices that define the plant model
Bd is a disturbance input at time k
y is the output of the system at time k
x0 is the initial state of the system
The goal of the optimization problem is to find the optimal control input sequence u that minimizes the cost function J while satisfying the system dynamics and constraints. This problem can be solved using techniques such as quadratic programming or nonlinear programming.