Nonlinear Model Predictive Control: Theory and Algorithms
暫譯: 非線性模型預測控制：理論與演算法

Grüne, Lars, Pannek, Jürgen

Nonlinear Model Predictive Control: Theory and Algorithms
  • 出版商: Springer
  • 出版日期: 2018-06-28
  • 售價: $5,560
  • 貴賓價: 9.5 折 $5,282
  • 語言: 英文
  • 頁數: 456
  • 裝訂: Quality Paper - also called trade paper
  • ISBN: 3319834231
  • ISBN-13: 9783319834238
  • 相關分類: 控制系統 Control-systems

    • 海外代購書籍(需單獨結帳)

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商品描述

This book offers readers a thorough and rigorous introduction to nonlinear model predictive control (NMPC) for discrete-time and sampled-data systems. NMPC schemes with and without stabilizing terminal constraints are detailed, and intuitive examples illustrate the performance of different NMPC variants. NMPC is interpreted as an approximation of infinite-horizon optimal control so that important properties like closed-loop stability, inverse optimality and suboptimality can be derived in a uniform manner. These results are complemented by discussions of feasibility and robustness. An introduction to nonlinear optimal control algorithms yields essential insights into how the nonlinear optimization routine--the core of any nonlinear model predictive controller--works. Accompanying software in MATLAB(R) and C]+ (downloadable from extras.springer.com/), together with an explanatory appendix in the book itself, enables readers to perform computer experiments exploring thepossibilities and limitations of NMPC.
The second edition has been substantially rewritten, edited and updated to reflect the significant advances that have been made since the publication of its predecessor, including:

- a new chapter on economic NMPC relaxing the assumption that the running cost penalizes the distance to a pre-defined equilibrium;
- a new chapter on distributed NMPC discussing methods which facilitate the control of large-scale systems by splitting up the optimization into smaller subproblems;
- an extended discussion of stability and performance using approximate updates rather than full optimization;
- replacement of the pivotal sufficient condition for stability without stabilizing terminal conditions with a weaker alternative and inclusion of an alternative and much simpler proof in the analysis; and
- further variations and extensions in response to suggestions from readers of the first edition.
Though primarily aimed at academic researchers and practitioners working in control and optimization, the text is self-contained, featuring background material on infinite-horizon optimal control and Lyapunov stability theory that also makes it accessible for graduate students in control engineering and applied mathematics.

商品描述(中文翻譯)

本書為讀者提供了對於離散時間和取樣數據系統的非線性模型預測控制（NMPC）的徹底且嚴謹的介紹。詳細說明了有穩定終端約束和無穩定終端約束的NMPC方案，並通過直觀的例子來說明不同NMPC變體的性能。NMPC被解釋為無限時域最優控制的近似，因此可以以統一的方式推導出閉環穩定性、逆最優性和次最優性等重要性質。這些結果還輔以可行性和穩健性的討論。對非線性最優控制算法的介紹提供了對非線性優化例程的基本見解——這是任何非線性模型預測控制器的核心。隨附的MATLAB(R)和C]+軟體（可從extras.springer.com/下載），以及書中附帶的解釋性附錄，使讀者能夠進行計算機實驗，探索NMPC的可能性和限制。

第二版已經大幅重寫、編輯和更新，以反映自前一版出版以來所取得的重大進展，包括：
- 新增一章關於經濟NMPC，放寬了運行成本懲罰距離預定平衡的假設；
- 新增一章關於分散式NMPC，討論通過將優化分解為較小的子問題來促進大規模系統的控制的方法；
- 擴展了使用近似更新而非完整優化的穩定性和性能討論；
- 用一個較弱的替代條件取代了穩定性所需的關鍵充分條件，並在分析中包含了一個替代且更簡單的證明；
- 根據第一版讀者的建議進一步變化和擴展。

雖然本書主要針對從事控制和優化的學術研究人員和實務工作者，但文本是自成一體的，包含了無限時域最優控制和李雅普諾夫穩定性理論的背景材料，這也使其對控制工程和應用數學的研究生具有可讀性。

作者簡介

Lars Grüne has been Professor for Applied Mathematics at the University of Bayreuth, Germany, since 2002 and head of the Chair of Applied Mathematics since 2009. He received his Diploma and Ph.D. in Mathematics in 1994 and 1996, respectively, from the University of Augsburg and his habilitation from the J.W. Goethe University in Frankfurt/M in 2001. He held visiting positions at the Universities of Rome 'La Sapienza' (Italy), Padova (Italy), Melbourne (Australia), Paris IX -- Dauphine (France) and Newcastle (Australia). Professor Grüne is Editor-in-Chief of the journal Mathematics of Control, Signals and Systems (MCSS), Associate Editor for the Journal of Optimization Theory and Applications (JOTA) and the Journal of Applied Mathematica and Mechanics (ZAMM) and member of the Managing Board of the GAMM -- International Association of Applied Mathematics and Mechanics. Professor Grüne co-authored four books, more than 100 papers and chapters in peer reviewed journals and books and more than 80 articles in conference proceedings. He is member of the steering committee of the International Symposium on Mathematical Theory of Networks and Systems (MTNS) and member of the Program Comittees of various other conferences, including IFAC-NOLCOS symposia, the European Control Conference and the IEEE Conference on Decision and Control. In 2012, Professor Grüne was awarded the Excellence in Teaching Award ("Preis für gute Lehre") from the State of Bavaria. His research interests lie in the area of mathematical systems and control theory with a focus on numerical and optimization-based methods for stability analysis and stabilization of nonlinear systems.

Jürgen Pannek has been Professor in the Department of Production Engineering at the University of Bremen (Germany) since 2014. He received his Diploma in Mathematical Economics and his Ph.D. in Mathematics from the University of Bayreuth in 2005 and 2009. He was visiting lecturer at the University of Birmingham (England) in 2008 and Curtin University of Perth (Australia) from 2010 to 2011. Thereafter, he worked as scientific assistant in the Department of Aerospace Engineering at the University of the Federal Armed Forces Munich (Germany). In his research, he focuses on the area of system and control theory from the application point of view regarding robotics, logistics and cyberphysical systems.

作者簡介(中文翻譯)

Lars Grüne 自2002年以來擔任德國拜羅伊特大學應用數學教授，並自2009年起擔任應用數學教席主任。他於1994年和1996年分別在奧格斯堡大學獲得數學學士和博士學位，並於2001年在法蘭克福的約翰·沃爾夫岡·歌德大學獲得博士後資格。他曾在意大利的羅馬「拉薩比恩扎」大學、帕多瓦大學、澳大利亞的墨爾本大學、法國的巴黎九大－多芬大學和澳大利亞的紐卡斯爾大學擔任訪問職位。Grüne教授是《控制、信號與系統數學》（Mathematics of Control, Signals and Systems, MCSS）期刊的主編，《優化理論與應用期刊》（Journal of Optimization Theory and Applications, JOTA）和《應用數學與力學期刊》（Journal of Applied Mathematics and Mechanics, ZAMM）的副編輯，以及國際應用數學與力學協會（GAMM）的管理委員會成員。Grüne教授共同撰寫了四本書籍，發表了超過100篇同行評審的期刊和書籍章節，以及超過80篇會議論文。他是國際數學網絡與系統理論研討會（MTNS）的指導委員會成員，並參與多個其他會議的程序委員會，包括IFAC-NOLCOS研討會、歐洲控制會議和IEEE決策與控制會議。2012年，Grüne教授獲得巴伐利亞州的卓越教學獎（'Preis für gute Lehre'）。他的研究興趣集中在數學系統與控制理論領域，特別是針對非線性系統的穩定性分析和穩定化的數值和基於優化的方法。

Jürgen Pannek 自2014年以來擔任德國不來梅大學生產工程系教授。他於2005年和2009年在拜羅伊特大學獲得數學經濟學學士和博士學位。他於2008年在英國伯明翰大學擔任訪問講師，並於2010年至2011年在澳大利亞的珀斯科廷大學任教。此後，他在德國聯邦國防軍慕尼黑大學的航空航天工程系擔任科學助理。在他的研究中，他專注於系統與控制理論，特別是針對機器人技術、物流和網絡物理系統的應用觀點。

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