Model predictive control of a mimo system
Chipurapalli Raj Shekhar
Date of Issue2017
School of Electrical and Electronic Engineering
Model Predictive Control (MPC) is a control method that deals with the multivariable system with constraints. In this dissertation, the MPC methodology is demonstrated on the Coupled Tank System. Using the first principle method, the system parameters for the Coupled Tank System are determined. Model Validation is carried out by comparing simulated data of the model developed with the actual plant. Augmented state space model with incremental input is developed which is used to ensure offset free tracking of the set point. The appropriate choice of augmented state space model is important for the controller performance. Further, the coupled tank system is interfaced with NI DAQmx 6221E using the LabVIEW software. Many experiments has been carried out for the tuning of MPC parameters, control horizon (Nc), prediction horizon (Np) and control weighing factor (λ). The correct selection of MPC parameters are made for implementing MPC algorithm on the coupled tank system. One of the most important features of MPC method is the system constraints. Experiments are carried out when the slew rate constraints, input constraints and output constraints are applied. Comparison between MPC with constraints and MPC without constraints is done.
DRNTU::Engineering::Electrical and electronic engineering