A Framework for Monitoring Control Updating Period in Real-Time NMPC Schemes

Abstract

In this contribution, a general scheme for on-line monitoring of the control updating period in real-time Nonlinear Model Predictive Control (NMPC) schemes is proposed. Such a scheme can be of a great interest when applying NMPC to systems with fast dynamics. The updating scheme is based on the on-line identification of generic models for both solver efficiency and disturbance effects on the optimal cost behavior. A simple example is used to illustrate the efficiency of the proposed methodology.