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arXiv · 2204.09607

On the Practical Design of Tube-Enhanced Multi-Stage Nonlinear Model Predictive Control

Sankaranarayanan Subramanian·Yehia Abdelsalam·Sergio Lucia·Sebastian Engell
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Abstract

Tube-enhanced multi-stage nonlinear model predictive control is a robust control scheme that can handle a wide range of uncertainties with reduced conservatism and manageable computational complexity. In this paper, we elaborate on the flexibility of the approach from an application point of view. We discuss the path to making design decisions to implement the novel scheme systematically. We illustrate the critical steps in the design and implementation of the scheme for an industrial example.

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Sankaranarayanan Subramanian, Yehia Abdelsalam, Sergio Lucia, Sebastian Engell. 2022-04-20. On the Practical Design of Tube-Enhanced Multi-Stage Nonlinear Model Predictive Control. https://arxiv.org/abs/2204.09607

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