Solution of some model predictive control problems using slopes between unconstrained and constrained optimums

At times, the number of controlled Variables equals the number of manipulat ed variables and the objective of the control system is to minimize the dif ference in the desired and predicted output trajectories subject only to co nstraints on the manipulated variables. If a simplified model predictive co ntrol algorithm is used for such applications, then solution to the optimiz ation problem can be obtained by using the slopes between the unconstrained and constrained optimums. The solution procedure is described for a two-in put-two-output case. A comparison with a linear programming (LP) formulatio n showed that the computational time for the proposed solution was about 35 times less than the time for the LP solution. Copyright (C) 1999 John Wile y & Sons, Ltd.