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Quasi-Infinite Horizon Predictive Control : An Approach to Guaranteed Stability and Robustness of Nonlinear Systems

In this talk a novel Nonlinear Model Predictive Control (NMPC) scheme, called "quasi-infinite horizon nonlinear predictive control" will be presented for which stability of the closed loop can be proven independent of the performance objective chosen (guaranteed stability). Drawing from elements of nonlinear H-infinity theory this scheme can be extended to also guarantee robustness of the closed loop stability for a large class of uncertainties. This technique has a number of advantages compared to other approaches making it an attractive method for nonlinear control of practical problems. The benefits of the quasi-infinite horizon NMPC scheme will be demonstrated using several application examples.

Type of Seminar:
Special Series on Nonlinear Systems
Prof. Frank Allgöwer
Automatic Control Laboratory, ETH-Zurich, Switzerland
Apr 07, 1999   8:00

ETH Zentrum Building VAW Room B1, Gloriastrasse 37-39, 8006 Zurich
Contact Person:

Prof. M.Morari
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Biographical Sketch:
Frank Allgöwer is Assistant Professor of Nonlinear Systems at the Automatic Control Laboratory of the Swiss Federal Institute of Technology and head of the Nonlinear Control Systems Group. Born May 23, 1962 in Germany, he studied Technical Cybernetics and Applied Mathematics at the University of Stuttgart and the University of California at Los Angeles (UCLA) respectively. He received his Ph.D. degree from the Department of Chemical Engineering of the University of Stuttgart. Prior to his appointment as professor at the ETH in 1996 he was lecturer and head of the Nonlinear Control Group at the Institut für Systemdynamik und Regelungstechnik of the University of Stuttgart. He has been a visiting research associate at the California Institute of Technology and the NASA Ames Research Center and has spent a year as visiting research scientist with the Central Research and Development Organization of the DuPont Company in Wilmington, DE. His main interests in research and teaching are in the area of systems and control with emphasis on the development of new methods for the analysis and control of nonlinear systems and the identification of nonlinear systems. Of equal importance to the theoretical developments are practical applications andthe experimental evaluation of benefits and limitations of the developed methods. Applications range from chemical process control and control of mechatronic systems to the aerospace sector. Frank Allgöwer is Associate Editor for the journals Automatica and Journal of Process Control, organizer or co-organizer of several international workshops and has published over 50 scientific articles.