Difference between revisions of "CDS 110b: Receding Horizon Optimal Control"
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* {{cds110bwi07 pdfsL82_rhc.pdfLecture notes on RHC analysis}} (Fri)  * {{cds110bwi07 pdfsL82_rhc.pdfLecture notes on RHC analysis}} (Fri)  
* [http://www.cds.caltech.edu/~murray/courses/cds110/wi07/mp3/21Feb07.mp3 MP3] of Wednesday lecture, 21 Feb 2007  * [http://www.cds.caltech.edu/~murray/courses/cds110/wi07/mp3/21Feb07.mp3 MP3] of Wednesday lecture, 21 Feb 2007  
+  * [http://www.cds.caltech.edu/~murray/courses/cds110/wi07/mp3/23Feb07.mp3 MP3] of Friday lecture, 23 Feb 2007  
* {{cds110bwi07 pdfshw7.pdfHW #7}} (due 29 Feb 07)  * {{cds110bwi07 pdfshw7.pdfHW #7}} (due 29 Feb 07)  
Revision as of 02:49, 24 February 2007
See current course homepage to find most recent page available. 
CDS 110b  Schedule  Project  FAQ  Reading 
This set of lectures provides an introduction to receding horizon control and its use for two degree of freedom control design.
Course Materials
 Lecture slides on RHC overview (Wed)
 Lecture notes on RHC analysis (Fri)
 MP3 of Wednesday lecture, 21 Feb 2007
 MP3 of Friday lecture, 23 Feb 2007
 HW #7 (due 29 Feb 07)
References and Further Reading

Online Control Customization via OptimizationBased Control, R. M. Murray et al. In SoftwareEnabled Control: Information Technology for Dynamical Systems, T. Samad and G. Balas (eds.), IEEE Press, 2001. This paper talks about the CLFbased nonlinear RHC approach and its application on the Caltech ducted fan using NTG.

Constrained model predictive control: Stability and optimality, D. Q. Mayne, J. B. Rawlings, C. V. Rao and P. O. M. Scokaert. Automatica, 2000, Vol. 36, No. 6, pp. 789814. This is one of the most referenced comprehensive survey papers on MPC. Gives a nice overview about its history and explains the most important issues and various approaches.