Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.byGuillermo Valencia-PalomoThesis submitted in partial fullment ofthe requirements for the degree ofDoctor of PhilosophyAutomatic Control and Systems EngineeringUniversity of SheeldOctober, 2010Ecient implementations ofpredictive controlGllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.byGuillermo Valencia-PalomoThesis submitted in partial fullment ofthe requirements for the degree ofDoctor of PhilosophyAutomatic Control and Systems EngineeringUniversity of SheeldOctober, 2010Ecient implementations ofpredictive controlGllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Automatic Control and Systems EngineeringUniversity of SheeldSheeld, U.K. S1 3JD.This dissertation was prepared with the LATEX document preparation system.TEX is a trademark of the American Mathematical Society.Copyright c ( 2010 by Guillermo Valencia-Palomo.This work is subject to copyright. All rights are reserved, whether the whole or partof the material is concerned, specically the rights of translation, reprinting, reuse ofillustrations, recitation, broadcasting, reproduction on microlm or in other ways, andstorage in data banks. Duplication of this publication or parts thereof is permitted onlyunder the provisions of the British Copyright Law, Designs and Patents Act 1988 in itscurrent version, and written permission for use must always be obtained from the author.Violations are liable for prosecution act under British Copyright Law.The use of general descriptive names, registered names, trademarks, etc. in this publi-cation does not imply, even in the absence of a specic statement, that such names areexempt from the relevant protective laws and regulations and therefore free for general use.Printed in the United Kingdom.10 9 8 7 6 5 4 3 2 1Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Dedicated to my beloved .If I have the gift of prophecy and can fathom all mysteries and all knowledge,but have not love, I am nothing.1 Corinthians 13: 2Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Dedicado a mi amada .Y si tuviese el don de la profeca, y entendiese todos los misterios y toda ciencia, pero no tengo amor, nada soy.1 Corintios 13:2Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.AcknowledgmentsAll praise and glory is due to Almighty God, whose blessings has been con-stantly bestowed upon me. I give thanks to Thee for letting me achieve mydreams surrounded by the people I love.The Lord is my light and my salvation whom shall I fear? The Lord is the stronghold of my life of whom shall I be afraid? Psalm 27: 1Long after the lectures I took, the papers I struggled to understand, the in-sights I had that eventually led to progress and the many dead ends that Iencountered during the course of my research; I can nally write these nallines of my thesis. It is my sincere belief that I will have a clear and pleasantmemory of those I shared this experience with. During my PhD studies at TheUniversity of Sheeld I was fortunate enough to interact with a number of peo-ple from whom I have beneted greatly. I gratefully acknowledge those whohave oered their advise, assistance, encouragement, and most importantly,friendship. The following people deserve special recognition.I would like to express my thanks and appreciation to my thesis supervisorJ. Anthony Rossiter, I have thoroughly enjoyed our work together and considermyself very fortunate to have been under your direction. Our interaction hasbeen an invaluable learning experience. Whatever accomplishments I havebeen able to make during my PhD studies are a direct result of your guidance,insight and inspiration.I would like to express my gratitude to the Prof. Manfred Moraris researchgroup at the Swiss Federal Institute of Technology Zurich (ETH), especially toMato Baotic, Michael Kvasnica and Pascal Grieder for the Multi-ParametricToolbox. And many thanks to Colin N. Jones (ETH, Ch), Jaques Richalet(ADERSA, Fr), Kevin R. Hilton (CSE Controls, UK), Luiping Wang (RMIT,Au), Michail Pellegrinis (ACSE Sheeld, UK) and Ravi Gondhalekar (OsakaUniversity, Jp) for their collaboration at some point of my research.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.I would like to thank Prof. Peter J. Fleming (University of Sheeld) andProf. Basil Kouvaritakis (Oxford University) for their gracious service on mydissertation committee. I have gained much from your conversations, questionsand suggestions.The most perfect working environment is worthless if you cannot retreat to afullled private life, therefore, I would like to thank my wife Paloma for herendless love, always being there for me and making home a safe-haven fromall types of stress; you are my joy, my peace, my cornerstone. Thank you forall the sacrices you made during this stage of our life, I will compensate youforever. Thank you to my toddler daughter Luca and my newborn son Danielfor brighten my life only with their mere existence. You all are my inspiration.The support of my parents, Guillermo and Luca, from the beginning of myeducation all the way through to the completion of my PhD studies must beacknowledged. The foundations of my education have been key on my journeytowards this point of my life. I am grateful for the sacrice you made andfor creating the environment that has encouraged me to succeed. Of course,this environment includes my brothers (Jorge and Lizardo) and grandparents(Guillermo and Mercedes) to whom I am grateful as well.Every joy is multiplied by the number of persons participating in it. Yes,the weather could have been better in those years, but people could hardlybe any better than the ones in Sheeld. Here, I have been lucky enough tohave excellent friends that I can truly rely on, whereby I would like to espe-cially mention Ahmed Dogan, Alejandro Torres, and the families: Handforth,Marquez-Flores, Polidori and Reeves. Your friendship has been of invaluablehelp and support, I will always be in debt with you.I would also like to thank Dejanira Araiza, Hatim Laalej, Hector Barron andMiguel Gama for being a good friends in and out of the oce; Leo Shead whohelped me get settled in when I join the department; Aming Chen, Feng Zhangand Saiful Huq who put up with me in the same oce for three years; BodeOgundimu and Zaid Omar who were the rst people who oered me theirfriendship when I arrived Sheeld; Juan Leonardo Martnez another greatfriend in UK; and in general to all those who I shared with the dream of seeingour studies completed.There are many other people that made my life more pleasant in Sheeldand others that always had been supporting me from Mexico. It would beimpossible to mention all of you here, nevertheless, I have you in my mind andI want to rearm my gratitude.Finally, thanks to The (Mexican) National Council of Science and Technology(conacyt), without its nancial support I would not have been able to dedicatefull-time to my doctoral studies.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.AgradecimientosAcknowledgements, spanish versionToda alabanza y gloria para Dios Todopoderoso, por quien he sido bendecidoconstantemente. Gracias por permitirme lograr mis sue nos rodeado por laspersonas que amo.El Seor es mi luz y mi salvacin de quin temer?El Seor es la fortaleza de mi vida de quin he de atemorizarme?Salmo 27:1 Tiempo despues de las clases que tome, los artculos que batalle en entender,las ideas que eventualmente me llevaron a progresar y a muchas otras que unicamente me llevaron a caminos sin salida durante el curso de mis estudios;puedo nalmente escribir estas ultimas lineas de mi tesis. Sinceramente puedodecir que voy a tener un bonito y claro recuerdo de aquellos con quienes com-part esta experiencia. Durante mis estudios en la Universidad de Sheeldtuve la fortuna de interactuar con personas de quienes me he visto enorme-mente beneciado. Les agradezco profundamente a aquellos que me ofrecieronsu consejo, ayuda, motivaci on y sobre todo su amistad. Las siguientes personasmerecen un reconocimiento especial.Quisiera expresar mi agradecimiento a mi asesor de tesis J. Anthony Rossiter,realmente disfrute trabajar con usted y me considero muy afortunado de haberestado bajo su direccion. Nuestra interacci on fue una experiencia invaluable-mente educativa. Todos los logros que obtuve durante mi doctorado fueronresultado directo de su direccion, perspicacia e inspiracion.Agradezco tambien al grupo de investigaci on del Profesor Manfred Morari delInstituto Tecnologico Federal de Zurich (ETH), especialmente a Mato Baotic,Michael Kvasnica y Pascal Grieder por facilitarme las herramientas para elanalisis multi-parametico. Muchas gracias a Colin N. Jones (ETH, Ch), JaquesRichalet (ADERSA, Fr), Kevin R. Hilton (CSE Controls, UK), Luiping Wang(RMIT, Au), Michail Pellegrinis (ACSE Sheeld, UK) y Ravi Gondhalekar(Osaka University, Jp) por su colaboracion en alg un punto de mi doctorado.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gracias al Profesor Peter J. Fleming (University of Sheeld) y al Profesor BasilKouvaritakis (Oxford University) por su amable servicio en el comite evalu-ador de mi tesis. He aprendido mucho de sus conversaciones, preguntas ysugerencias.Un ambiente de trabajo perfecto no vale la pena si uno no se puede refugiaren una vida privada plena al nal del da, por lo tanto quisiera agradecer ami esposa Paloma por su innito amor, por siempre estar ah para apoyarmey hacer de nuestro hogar un espacio libre de todo tipo de estres; tu eres mialegra, mi paz, mi pilar. Gracias por todos los sacricios hechos durante estaetapa de nuestras vidas, te los compensare por siempre. Gracias a mis hijosLuca y Daniel por iluminar mi vida con tan solo su existencia. Ustedes tresson mi inspiracion.El apoyo de mis padres, Guillermo y Luca, desde el principio de mi educacionhasta el nal de mis estudios doctorales, no puede pasar desapercibido. Lasbases de mi educacion han sido claves para llegar a este punto en mi vida.Estoy muy agradecido por el sacricio que han hecho y por haber creado elambiente que me ha motivado a salir adelante. Por supuesto, este ambienteincluye a mis hermanos (Jorge y Lizardo) y abuelos (Guillermo y Mercedes)con quienes estoy igualmente agradecido.Toda alegra se multiplica por el n umero de personas que la comparten. S,el clima pudo haber sido mejor en estos a nos, pero difcilmente las personaspudieron haber sido mejores que las de Sheeld. Aqu, he tenido mucha suertede encontrarme excelentes amigos en quienes puedo apoyarme, de los cualesquisiera mencionar especialmente a Ahmed Dogan, Alejandro Torres, y a lasfamilias: Handforth, Marquez-Flores, Polidori y Reeves. Su amistad ha sidode invaluable ayuda y apoyo, siempre estare en deuda con ustedes.Quisiera tambien agradecer a Dejanira Araiza, Hatim Laalej, Hector Barron yMiguel Gama por ser buenos amigos dentro y fuera de la ocina; a Leo Sheadquien me ayud o a integrarme cuando recien llegue al departamento; a AmingChen, Feng Zhang y Saiful Huq quienes me aguantaron tres a nos en la mismaocina; a Bode Ogundimu y Zaid Omar, los primeros en ofrecerme su amistadcuando llegue a Sheeld; a Juan Leonardo Martnez otro gran amigo en elReino Unido; y en general a todos con quienes compart el sue no de ver alg unda nuestros estudios completados.Hay muchas otras personas que hicieron mi vida mas placentera en Sheeld yotros que siempre me han apoyado desde Mexico. Sera imposible mencionarlosa todos en este espacio, sin embargo, los tengo presentes y quiero rearmarlesmi gratitud.Finalmente, gracias al Consejo (Mexicano) Nacional de Ciencia y Tecnologa(conacyt), sin su apoyo economico no me hubiera sido posible hablerle dedicadotiempo completo a mis estudios doctorales.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.AbstractThe thesis deals with computational simplicity and eciency of PredictiveControl (MPC) algorithms. The main motivation arises from the interest ofembedding high performance controllers with constraint handling capabilitiesin standard industrial hardware (e.g. PLC). It is the authors belief that MPCneeds to be embedded in standard hardware to be, nally, a real alternativeto conventional controllers.There are some barriers and criteria to eectively programming an algorithmdierent than a conventional PID or logic sequences in a PLC; so, rst thethesis presents in detail how to make use of the programming language IEC1131.3 to incorporate a MPC algorithm into the PLC. This rst developmentinterpolates two control laws to handle constraints and has the key noveltyof being an auto-tuned/auto-modelled controller which only uses crude butpragmatic information of the plant. This controller is compared experimentallywith a commercial PID controller also embedded in the PLC.In order to embed more advanced constraint handling strategies in a PLC itis necessary to reduce the inherent computational complexity of the predictivecontrollers. One of the avenues explored to reduce the computational com-plexity, is to improve the default feed-forward compensator of the MPC whenthe future information of the setpoint is available by the use of a second de-sign stage. It is shown that using this improved feed-forward compensator,the constraint handling can be accommodated in the feed-forward leaving theon-line optimiser free to deal only with disturbances and uncertainties. Thisapproach is validated experimentally.Another avenue explored is to parametrise the input sequences with Laguerrefunctions in optimal predictive control (OMPC) to change the optimisationproblem and therefore to nd an alternative optimal trajectory. An enlarge-ment of the feasible region of the controller with no performance loss is achievedusing the Laguerre functions. The proposed algorithm guarantees stability andrecursive feasibility. In order to implement this algorithm into the PLC, multi-parametric solutions to Quadratic Programming (mp-QP) are used. It is alsoshown that OMPC using Laguerre functions and mp-QP reduces the storagerequirements in the PLC since the resulting number of partitions is smallerthan the number of partitions obtained using OMPC with mp-QP.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.In addition, a suboptimal multi-parametric solution to MPC is proposed toachieve even lower computational and storage requirements. The key noveltyof this proposal is that the algorithm predenes the complexity of the controllerrather than the allowable suboptimality using a regular predened polytopeto dene the feasible region of the controller. This polytope is stored in vertexrepresentation rather than the most common facet representation. On-line, thecontroller performs only trivial computations to calculate the control law yield-ing a very ecient search algorithm. The controller guarantees stability andrecursive feasibility. Once again, this algorithm is validated experimentally.The results presented in the thesis are promising and open up dierent futureresearch ideas to develop simple but ecient algorithms that could be equallyembedded in standard industrial hardware.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Statement of originalityUnless otherwise stated in the text, the work described in this thesis was carriedout solely by the candidate. None of this work has already been accepted forany degree, nor is it concurrently submitted in candidature for any degree.Guillermo Valencia-PalomoCandidateDr. J. Anthony RossiterSupervisorGllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.ContentsList of gures viiiList of tables xiNomenclature xii1 Introduction 11.1 Predictive control . . . . . . . . . . . . . . . . . . . . . . . . . . 21.2 Advantages and disadvantages of model predictive control . . . 41.3 Motivation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61.4 Objective . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71.5 Supporting publications . . . . . . . . . . . . . . . . . . . . . . 81.6 Thesis overview . . . . . . . . . . . . . . . . . . . . . . . . . . . 9I Background2 Basic principles of predictive control 122.1 Models and predictions . . . . . . . . . . . . . . . . . . . . . . . 132.2 Controlled and manipulated variables . . . . . . . . . . . . . . . 142.3 Cost function . . . . . . . . . . . . . . . . . . . . . . . . . . . . 152.4 Unconstrained MPC algorithms . . . . . . . . . . . . . . . . . . 162.4.1 Augmented state and input increments . . . . . . . . . . 162.4.2 Deviation variables . . . . . . . . . . . . . . . . . . . . . 182.5 Constrained MPC algorithm . . . . . . . . . . . . . . . . . . . . 192.5.1 Constraint linear inequalities for augmented formulation 20iGllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Contents ii2.5.2 Constraint linear inequalities for deviation variable for-mulation . . . . . . . . . . . . . . . . . . . . . . . . . . . 202.5.3 Quadratic Programming (QP) . . . . . . . . . . . . . . . 212.6 Stability . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 232.6.1 Lyapunov stability and Lyapunov functions . . . . . . . 242.6.2 The tail of an optimal trajectory and the principle ofoptimality . . . . . . . . . . . . . . . . . . . . . . . . . . 242.6.3 Unconstrained stability . . . . . . . . . . . . . . . . . . . 252.6.4 Constrained stability . . . . . . . . . . . . . . . . . . . . 272.7 Dual-mode MPC . . . . . . . . . . . . . . . . . . . . . . . . . . 292.7.1 Terminal control law . . . . . . . . . . . . . . . . . . . . 292.7.2 Maximum Admissible Sets (MAS)s . . . . . . . . . . . . 302.7.3 Dual-mode MPC algorithm . . . . . . . . . . . . . . . . 342.8 Closed-loop paradigm . . . . . . . . . . . . . . . . . . . . . . . . 352.9 Integral action and disturbance modelling . . . . . . . . . . . . 362.9.1 Disturbance and state estimation with steady-state Kalmanltering . . . . . . . . . . . . . . . . . . . . . . . . . . . 362.9.2 Incorporation of measured disturbances . . . . . . . . . . 372.10 Conclusions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 383 Literature review 393.1 Theoretical foundations . . . . . . . . . . . . . . . . . . . . . . . 393.2 The process control literature . . . . . . . . . . . . . . . . . . . 403.3 Real-time implementation challenges . . . . . . . . . . . . . . . 423.3.1 Stability . . . . . . . . . . . . . . . . . . . . . . . . . . . 423.3.2 Feasibility . . . . . . . . . . . . . . . . . . . . . . . . . . 423.3.3 Optimality . . . . . . . . . . . . . . . . . . . . . . . . . . 423.3.4 Computational complexity . . . . . . . . . . . . . . . . . 433.3.5 Robustness . . . . . . . . . . . . . . . . . . . . . . . . . 433.4 Nonlinear predictive control . . . . . . . . . . . . . . . . . . . . 433.4.1 Direct optimisation . . . . . . . . . . . . . . . . . . . . . 443.4.2 Euler-Lagange and Hamilton-Jacobi-Bellman (HJB) ap-proaches . . . . . . . . . . . . . . . . . . . . . . . . . . . 453.4.3 Cost and constraint approximation . . . . . . . . . . . . 46Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Contents iii3.4.4 Re-parametrisation of the degrees of freedom . . . . . . . 463.5 Ecient MPC algorithms . . . . . . . . . . . . . . . . . . . . . 463.5.1 Cautious design and saturation . . . . . . . . . . . . . . 473.5.2 Allowing uncertainty in the time to solve the optimisa-tion problem . . . . . . . . . . . . . . . . . . . . . . . . . 483.5.3 Early termination . . . . . . . . . . . . . . . . . . . . . . 493.5.4 Scheduling . . . . . . . . . . . . . . . . . . . . . . . . . . 513.5.5 Interpolation . . . . . . . . . . . . . . . . . . . . . . . . 523.5.6 Triple-mode MPC . . . . . . . . . . . . . . . . . . . . . . 533.5.7 Exploiting non-synergy . . . . . . . . . . . . . . . . . . . 543.5.8 Multi-parametric Quadratic Programming . . . . . . . . 553.6 Conclusions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56II Ecient predictive control developments4 Auto-tuned predictive control based on minimal plant infor-mation 584.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 584.2 The controllers . . . . . . . . . . . . . . . . . . . . . . . . . . . 604.2.1 Modelling assumptions . . . . . . . . . . . . . . . . . . . 604.2.2 Design point, auto-tuning and constraint handling for PID 624.2.3 Basic assumptions for MPC . . . . . . . . . . . . . . . . 634.2.4 Constraint handling for MPC . . . . . . . . . . . . . . . 644.2.5 Simple auto-tuning rules for MPC . . . . . . . . . . . . . 654.3 Programable Logic Controller (PLC) and the IEC 1131.3 pro-gramming standard . . . . . . . . . . . . . . . . . . . . . . . . . 664.3.1 The popularity of the PLCs . . . . . . . . . . . . . . . . 664.3.2 Allen Bradley

Rockwell Automation

PLC . . . . . 674.3.3 The IEC 1131.3 programming standard . . . . . . . . . . 684.3.4 Programming issues . . . . . . . . . . . . . . . . . . . . . 704.4 Implementation of the algorithms . . . . . . . . . . . . . . . . . 704.4.1 PID . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 704.4.2 MPC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 714.5 Experimental laboratory tests . . . . . . . . . . . . . . . . . . . 74Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Contents iv4.5.1 First order plant Temperature control . . . . . . . . . . 744.5.2 A second order plant Speed control . . . . . . . . . . . 774.5.3 Constraint handling . . . . . . . . . . . . . . . . . . . . . 774.5.4 Performance indices of the algorithms . . . . . . . . . . . 794.6 Conclusions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 815 Feed-forward design 825.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 825.2 Modelling, predictive control and tracking . . . . . . . . . . . . 845.2.1 Model, constraints and integral action . . . . . . . . . . 845.2.2 GPC/DMC algorithms: IMGPC . . . . . . . . . . . . . . 855.2.3 Optimal MPC . . . . . . . . . . . . . . . . . . . . . . . . 855.2.4 Illustrations of poor feed-forward design: no constraints . 875.2.5 Summary . . . . . . . . . . . . . . . . . . . . . . . . . . 895.3 Using the feed-forward as a design parameter: constraint free case 895.3.1 Feed-forward design with OMPC algorithms . . . . . . . 895.3.2 Two stage design . . . . . . . . . . . . . . . . . . . . . . 905.3.3 Numerical examples . . . . . . . . . . . . . . . . . . . . 915.3.4 Other setpoint trajectories . . . . . . . . . . . . . . . . . 935.4 Using the feed-forward as a design parameter: constrained case . 955.4.1 Constraint handling via feed-forward . . . . . . . . . . . 955.4.2 Allowing for uncertainty . . . . . . . . . . . . . . . . . . 975.5 Experimental implementation of the algorithm . . . . . . . . . . 975.5.1 PLC implementation . . . . . . . . . . . . . . . . . . . . 985.5.2 Experimental test . . . . . . . . . . . . . . . . . . . . . . 995.6 Conclusions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1016 Laguerre functions to improve feasibility 1026.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1026.2 Proposals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1046.3 Modelling and predictive control . . . . . . . . . . . . . . . . . . 1056.3.1 Model, constraints and integral action . . . . . . . . . . 1056.3.2 Predictions, constraint handling and feasibility . . . . . . 1066.3.3 Optimal MPC . . . . . . . . . . . . . . . . . . . . . . . . 106Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. 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Fnl V rso.Contents v6.4 A MPC algorithm exploiting non-synergy . . . . . . . . . . . . . 1086.5 Using Laguerre functions in OMPC . . . . . . . . . . . . . . . . 1096.5.1 Laguerre polynomials . . . . . . . . . . . . . . . . . . . . 1106.5.2 Use of Laguerre functions in OMPC design . . . . . . . . 1136.6 Numerical examples . . . . . . . . . . . . . . . . . . . . . . . . . 1166.6.1 Explanations of illustrations or comparisons . . . . . . . 1166.6.2 Example 1 x R2. . . . . . . . . . . . . . . . . . . . 1176.6.3 Example 2 x R3. . . . . . . . . . . . . . . . . . . . 1206.6.4 Example 3 x R4. . . . . . . . . . . . . . . . . . . . 1216.6.5 Summary . . . . . . . . . . . . . . . . . . . . . . . . . . 1226.7 Conclusions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1227 Multi-parametric solution to Laguerre OMPC 1237.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1237.2 Polytopes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1257.2.1 Denitions . . . . . . . . . . . . . . . . . . . . . . . . . . 1257.2.2 Basic polytope operations . . . . . . . . . . . . . . . . . 1277.3 Multi-parametric Quadratic Programming . . . . . . . . . . . . 1297.3.1 Denitions . . . . . . . . . . . . . . . . . . . . . . . . . . 1297.3.2 Properties and computations . . . . . . . . . . . . . . . . 1307.4 mp-QP solution to Laguerre OMPC . . . . . . . . . . . . . . . . 1337.5 Numerical examples . . . . . . . . . . . . . . . . . . . . . . . . . 1347.5.1 Simulation set up . . . . . . . . . . . . . . . . . . . . . . 1347.5.2 Complexity and volume comparisons . . . . . . . . . . . 1357.6 Experimental implementation of the algorithm . . . . . . . . . . 1397.6.1 PLC implementation . . . . . . . . . . . . . . . . . . . . 1397.6.2 Experimental test . . . . . . . . . . . . . . . . . . . . . . 1407.7 Conclusions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1448 An ecient suboptimal multi-parametric solution 1458.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1458.2 Modelling, predictive control and multi-parametric solutions . . 1478.2.1 Model and constraints . . . . . . . . . . . . . . . . . . . 1478.2.2 Optimal MPC . . . . . . . . . . . . . . . . . . . . . . . . 148Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. 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Fnl V rso.Contents vi8.2.3 Multi-parametric solutions . . . . . . . . . . . . . . . . . 1498.3 Facet or vertex representations of polytopes and multi-parametricsolutions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1498.3.1 Facet-based parametric solutions . . . . . . . . . . . . . 1498.3.2 Facet versus vertex representations of polytopes . . . . . 1508.3.3 Convexity . . . . . . . . . . . . . . . . . . . . . . . . . . 1508.3.4 Building a regular polytope for which each facet has onlyn vertices . . . . . . . . . . . . . . . . . . . . . . . . . . 1528.3.5 Locating the active facet/vertices on proposed simpleshape . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1528.3.6 Summary . . . . . . . . . . . . . . . . . . . . . . . . . . 1558.4 A suboptimal parametric MPC algorithm . . . . . . . . . . . . . 1558.4.1 Denition of the vertices of the feasible region . . . . . . 1568.4.2 Locating the active vertices from polytope { . . . . . . . 1578.4.3 Proposed suboptimal control law . . . . . . . . . . . . . 1578.5 Numerical examples . . . . . . . . . . . . . . . . . . . . . . . . . 1598.6 Experimental implementation of the algorithm . . . . . . . . . . 1638.6.1 PLC implementation . . . . . . . . . . . . . . . . . . . . 1638.6.2 Experimental test . . . . . . . . . . . . . . . . . . . . . . 1658.7 Conclusions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 168III Conclusions9 Conclusions and future perspectives 1709.1 Original contributions . . . . . . . . . . . . . . . . . . . . . . . 1709.2 Final conclusions . . . . . . . . . . . . . . . . . . . . . . . . . . 1719.3 Recommendations for future work . . . . . . . . . . . . . . . . . 173References 174IV AppendixA Kalman ltering 186A.1 Filter derivation . . . . . . . . . . . . . . . . . . . . . . . . . . . 186Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Contents viiA.2 The steady-state Kalman lter . . . . . . . . . . . . . . . . . . . 189B Dual-mode and closed-loop paradigm cost derivations 190B.1 Open-loop dual-mode cost derivation . . . . . . . . . . . . . . . 190B.2 Closed-loop cost derivation . . . . . . . . . . . . . . . . . . . . . 191B.3 No penalisation of the current state . . . . . . . . . . . . . . . . 192C About the author 193Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdctv Cotrol Algs. Fnl V rso.Gllrmo V lc Plomo. ct Prdc