Method and apparatus for preconditioned predictive control
US10613490B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Feb 5, 2018 |
| Grant date | Apr 7, 2020 |
| Priority date | — |
| Expiry date | May 2, 2038 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG06F17/16
- WIPO fieldComputer technology
- WIPO sectorElectrical engineering
Abstract
A predictive controller for controlling a system subject to constraints including equality and inequality constraints on state and control variables of the system, includes an estimator to estimate a current state of the system using measurements of outputs of the system and a controller to solve, at each control step, a matrix equation of necessary optimality conditions to produce a control solution and to control the system using the control solution to change a state of the system. The matrix equation includes a block-structured matrix having a constraint Jacobian matrix of the equality constraints of the system. The controller determines the control solution iteratively using two levels of iterations including a first level of iterations that selects active inequality constraints for each point of time within a control horizon, updates the constraint Jacobian matrix, with a low-rank update for a change in the set of active inequality constraints, to include the equality constraints and the active inequality constraints, and updates a preconditioning matrix, with a low-rank factorization update, in response to the low-rank update of the constraint Jacobian matrix. The second lev…
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