Abstract
This paper presents a novel approach for nonlinear model predictive control based on the concept of passivity. The proposed nonlinear model predictive control scheme is inspired by the relationship between optimal control and passivity as well as by the relationship between optimal control and model predictive control. In particular, a passivity-based state constraint is used to obtain a nonlinear model predictive control scheme with guaranteed closed loop stability. Since passivity and stability are closely related, the proposed approach can be seen as an alternative to control Lyapunov function based approaches. To demonstrate its applicability, the passivity-based nonlinear model predictive control scheme is applied to control a quadruple tank system.
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