Abstract
AbstractFlatness‐based feedforward control and receding horizon trajectory tracking control can be combined within a two‐degrees‐of‐freedom (2dof) control scheme to obtain robust trajectory tracking for nonlinear systems. The key to a computationally efficient solution of the optimization problem underlying the receding horizon control is the linearization of the time‐variant tracking error dynamics such that the nonlinear optimal control problem may be replaced by a linear‐quadratic formulation. The approach is demonstrated for setpoint transitions of a nonlinear boundary‐controlled parabolic partial differential equation (PDE), which is semi‐discretized for the control design using finite differences on the spatial derivatives. (© 2012 Wiley‐VCH Verlag GmbH & Co. KGaA, Weinheim)
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