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Input constraints handling in an MPC/feedback linearization scheme

Jiamei DengVictor M. BecerraRichard Stobart — 2009

International Journal of Applied Mathematics and Computer Science

The combination of model predictive control based on linear models (MPC) with feedback linearization (FL) has attracted interest for a number of years, giving rise to MPC+FL control schemes. An important advantage of such schemes is that feedback linearizable plants can be controlled with a linear predictive controller with a fixed model. Handling input constraints within such schemes is difficult since simple bound contraints on the input become state dependent because of the nonlinear transformation...

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