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arXiv · 2107.00966

Data-driven model predictive control: closed-loop guarantees and experimental results

Julian Berberich·Johannes Köhler·Matthias A. Müller·Frank Allgöwer
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Abstract

We provide a comprehensive review and practical implementation of a recently developed model predictive control (MPC) framework for controlling unknown systems using only measured data and no explicit model knowledge. Our approach relies on an implicit system parametrization from behavioral systems theory based on one measured input-output trajectory. The presented MPC schemes guarantee closed-loop stability for unknown linear time-invariant (LTI) systems, even if the data are affected by noise. Further, we extend this MPC framework to control unknown nonlinear systems by continuously updating the data-driven system representation using new measurements. The simple and intuitive applicability of our approach is demonstrated with a nonlinear four-tank system in simulation and in an experiment.

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Julian Berberich, Johannes Köhler, Matthias A. Müller, Frank Allgöwer. 2021-07-02. Data-driven model predictive control: closed-loop guarantees and experimental results. https://doi.org/10.1515/auto-2021-0024

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