How to specify a nonlinear mpc controller for continuous time delay differential equation state function?
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I have a system of continuous-time nonlinear delay differential equations with two states and two explicit time delays. I would like to build a nonlinear mpc controller for this system, but I am not sure how to write a state function with time delays.
The system:
Where are the state varaibles, are constants, u is the manipulated variable, and are the continuous-time nonlinear state equations.
Is this possible to do using nlmpc ?
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Emmanouil Tzorakoleftherakis
2023년 3월 14일
You can basically add states to help model the delays. So your new discretized state vector would be [x(k) y(k) x(k-1) y(k-1) ... x(k-tau1/Ts) y(t-tau2/Ts)]. Then you can use the respective state function with nlmpc.
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