Abstract
A continuous-time formulation of the MPC constrained optimal problem is introduced in this work. The proposed algorithm with a continuous-time criterion was tested on PVC production control. The penalty functions are used as the soft constraints for the state and output. This approach improves the constraint violence inside the sampling period as well as the problems related to specifying the weights for the sampling periods with varying length. This approach prevents from obtaining infeasible solution during the optimization iteration and reduces complexity and time consumption for optimization.
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