Interaction between control and estimation in nonlinear MPC

This paper shows how to take the quality of the state estimation into account in the formulation of the optimization criterion for model predictive control (MPC). This is relevant for the control of nonlinear plants, for which the separation principle in general does not apply. The method is illustr...

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Bibliographic Details
Published in:	Modeling, Identification and Control
Main Authors:	Morten Hovd, Robert R. Bitmead
Format:	Article
Language:	English
Published:	Norwegian Society of Automatic Control 2005-07-01
Subjects:	Nonlinear MPC
Online Access:	http://www.mic-journal.no/PDF/2005/MIC-2005-3-4.pdf

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