离散控制Matlab代码-rompc:降阶模型预测控制

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离散控制Matlab代码 ROMPC:降序模型预测控制 该存储库提供了以下出版物中描述的降阶模型预测控制方案的实现。 相关刊物 J. Lorenzetti和M. Pavone,摄于Proc。 IEEE Con​​f。 决策与控制研究中心,大韩民国济州岛,2020年(已提交) J.Lorenzetti,B.Landry,S.Singh和M.Pavone,在欧洲控制会议上,意大利那不勒斯,2019年。 要求 LP / QP解算器和 样例模型 该存储库中包含以下示例: 模型 描述 尺寸 小合成 合成离散时间示例 6 大型合成 合成离散时间示例 20 蒸馏塔 二元精馏塔的时间离散模型[1],[2] 86 管式React器 受控化学React过程的连续时间模型[3] 600 热流 分布式控制热流问题的时间离散模型,从[4]中描述的HF2D9模型修改而来 3,481 超音速扩散器 用于超声扩散器主动控制的时间离散CFD模型[5],[6] 11,730 飞机 连续时间飞机动力学模型(具有嵌入式CFD空气动力学模型)[7],[8] 998,936 笔记 该存储库还包含一些开源代码,这些代码实现了在计算
rompc-master.zip
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<p align="center"></p> # ROMPC: Reduced Order Model Predictive Control # This repository provides an implementation of the reduced order model predictive control scheme described in the publications below. ## Relevant Publications ## J. Lorenzetti and M. Pavone, [“Error Bounds for Reduced Order Model Predictive Control,”](https://arxiv.org/pdf/1911.12349.pdf) in _Proc. IEEE Conf. on Decision and Control_, Jeju Island, Republic of Korea, 2020. (Submitted) J. Lorenzetti, B. Landry, S. Singh, and M. Pavone, [“Reduced Order Model Predictive Control For Setpoint Tracking,”](https://arxiv.org/pdf/1811.06590.pdf) in _European Control Conference_, Naples, Italy, 2019. ## Requirements ## [MATLAB](https://www.mathworks.com/products/matlab.html)<br/> [MPT3](https://www.mpt3.org/)<br/> [YALMIP](https://yalmip.github.io/)<br/> LP/QP solvers [CPLEX](https://www.ibm.com/analytics/cplex-optimizer) and [MOSEK](https://www.mosek.com/)<br/> ## Example Models ## The following examples are included in this repository: | Model | Description | Dimension | |----------------------|----------------------------------------------------------------------------------------------------------------------|:---------:| | smallSynthetic | A synthetic discrete-time example | 6 | | largeSynthetic | A synthetic discrete-time example | 20 | | distillationColumn | A time-discretized model of a binary distillation column [1],[2] | 86 | | tubularReactor | A continuous-time model of a controlled chemical reaction process [3] | 600 | | heatflow | A time-discretized model for a distributed control heat flow problem, modified from the HF2D9 model described in [4] | 3,481 | | supersonicDiffuser | A time-discretized CFD model for the active control of a supersonic diffuser [5],[6] | 11,730 | | aircraft | A continuous-time aircraft dynamics model (with an embedded CFD aerodynamics model) [7],[8] | 998,936 | ## Notes ## This repository also contains some open-source code that implements methods that are optionally used when computing the error bounds and controller gains. In particular, this repository contains: 1. [expmv](https://github.com/higham/expmv) is a MATLAB function that computes the matrix exponential times a vector without explicitly forming the matrix exponential. This technique is based on [9]. ROMPC uses this as an option for computing the matrices used in computing the error bounds in the function recursiveMatExpAction(). 2. [HIFOO](https://cs.nyu.edu/overton/software/hifoo/) is a MATLAB package for fixed-order controller design based on nonsmooth, nonconvex optimization. This package is described in [10],[11] and uses the optimization package [HANSO](https://cs.nyu.edu/overton/software/hanso/). In this repository we include a modified version of this package which we refer to as H2SOFO (for H2 Static Output Feedback Optimization). This modified version includes only the functionality of HIFOO related to optimizing fixed order static (structured) controllers, and additionally includes the ability to consider discrete time problems. This code is used in the function computeControllerGains(). ## References ## [1] S. Skogestad and M. Morari, "Understanding the dynamic behavior of distillation columns", Ind. & Eng. Chem. Research, 27, 10, 1848-1862 (1988) [2] S. Skogestad and I. Postlethwaite, "Multivariable Feedback Control", Wiley (1996) [3] O. Agudelo and J. Espinosa, "Control of a tubular chemical reactor by means of POD and predictive control techniques", European Control Conference (2007) [4] F. Leibfritz, "COMPleib: Constrained matrix optimization problem library" (2006) [5] K. Willcox and G. Lassaux, "Model Reduction of an Actively Controlled Supersonic Diffuser", Dimension Reduction of Large-Scale Systems, 357-361 (2005) [6] G. Lassaux, "High-Fidelity Reduced-Order Aerodynamic Models: Application to Active Control of Engine Inlets", Master’s Thesis, Massachusetts Institute of Technology (2002) [7] J. Lorenzetti, A. McClellan, C. Farhat, and M. Pavone, [“UAV Aircraft Carrier Landing Using CFD-Based Model Predictive Control,”](http://asl.stanford.edu/wp-content/papercite-data/pdf/Lorenzetti.McClellan.Farhat.Pavone.AIAA20.pdf) AIAA Scitech Forum, (2020) [8] A. McClellan, J. Lorenzetti, M. Pavone, and C. Farhat, [“Projection-based Model Order Reduction for Flight Dynamics and Model Predictive Control,"](https://arc.aiaa.org/doi/abs/10.2514/6.2020-1190) AIAA Scitech Forum (2020) [9] A. Al-Mohy and N. Higham, "Computing the action of the matrix exponential, with an application to exponential integrators" SIAM J. Sci. Comput., 33(2):488--511, (2011) [10] D. Arzelier, G. Deaconu, S. Gumussoy and D. Henrion. "H2 for HIFOO", International Conference on Control and Optimization with Industrial Applications (2011) [11] S. Gumussoy, D. Henrion, M. Millstone and M.L. Overton. "Multiobjective Robust Control with HIFOO 2.0", Proceedings of the IFAC Symposium on Robust Control Design (2009) <p align="center"></p>
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