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采用非线性分离法综合了基于Hammerstein模型的稳定预测控制器.首先用有限时域稳定预测控制方法求解期望中间变量,然后求解非线性代数方程来反算实际控制作用.在求解期望中间变量时考虑输入非线性的不确定性和非线性代数方程的求解误差.在确定有限时域优化问题的终端约束集和终端状态加权矩阵时,采用参数依赖方法并引入参考集以优化终端约束集.通过一个仿真例子验证了该控制算法.
The nonlinear predictive controller based on Hammerstein model is synthesized by non-linear separation method. First, the finite time-domain predictive control method is used to solve the desired intermediate variable, then the nonlinear algebraic equation is solved to invert the actual control action. Input nonlinear uncertainty and nonlinear algebraic equation solving error.When determining the terminal constraint set and the terminal state weight matrix of the finite time domain optimization problem, the parameter-dependent method is introduced and the reference set is introduced to optimize the terminal constraint set.Through a Simulation examples verify the control algorithm.