ABSTRACT

We study model predictive control for singular differential-algebraic equations with higher index. This is a novelty when compared to the literature where only regular differential-algebraic equations with additional assumptions on the index and/or controllability are considered. By regularisation techniques, we are able to derive an equivalent optimal control problem for an ordinary differential equation to which well-known model predictive control techniques can be applied. This allows the construction of terminal constraints and costs such that the origin is asymptotically stable w.r.t. the resulting closed-loop system.

中文翻译：

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奇异微分代数方程的模型预测控制

摘要

我们研究了具有较高指数的奇异微分代数方程的模型预测控制。与仅考虑对指数和/或可控性附加假设的常规微分代数方程的文献相比，这是一个新颖性。通过正则化技术，我们能够推导出常微分方程的等效最优控制问题，可以应用众所周知的模型预测控制技术。这允许构建终端约束和成本，使得原点在所产生的闭环系统中是渐近稳定的。