2024/07/26 by Zhanhao Zhang, Zhang, Zhanhao, Anders Hilmar Damm Christensen +5
Engineering · #Advanced Control Systems Optimization #FOS: Mathematics #Fault Detection and Control Systems #Industrial Technology and Control Systems #Optimization and Control (math.OC)
paper · pdf · doi:10.48550/arxiv.2407.18825
openalex publication_date 2024/07/26 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28
This study presents the design, discretization and implementation of the continuous-time linear-quadratic model predictive control (CT-LMPC). The control model of the CT-LMPC is parameterized as transfer functions with time delays, and they are separated into deterministic and stochastic parts for relevant control and filtering algorithms. We formulate time-delay, finite-horizon CT linear-quadratic optimal control problems (LQ-OCPs) for the CT-LMPC. By assuming piece-wise constant inputs and constraints, we present the numerical discretization of the proposed LQ-OCPs and show how to convert the discrete-time (DT) equivalent into a standard quadratic program. The performance of the CT-LMPC is compared with the conventional DT-LMPC algorithm. Our numerical experiments show that, under fixed tunning parameters, the CT-LMPC shows better closed-loop performance as the sampling time increases than the conventional DT-LMPC.