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EU Proposal and MPC activities at the Politecnico di Milano Riccardo Scattolini Dipartimento di Elettronica e Informazione.

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Presentation on theme: "EU Proposal and MPC activities at the Politecnico di Milano Riccardo Scattolini Dipartimento di Elettronica e Informazione."— Presentation transcript:

1 EU Proposal and MPC activities at the Politecnico di Milano Riccardo Scattolini Dipartimento di Elettronica e Informazione

2 Riccardo Scattolini Dip. di Elettronica e Informazione 2 ICT Workprogramme

3 Riccardo Scattolini Dip. di Elettronica e Informazione 3 Functional/architectural viewpoint Plant Abstract level High level functions Long time scale Subsystem Intermediate functions Shorter time scale Functional requirements

4 Riccardo Scattolini Dip. di Elettronica e Informazione 4 Problems Typical problems (plant-wide control, traffic flow control, coordination, …) 1.How to structure the hierarchical system? 2.How to define the exchange of information and the definition of the control goals at lower levels? 3.How to consider the steady-state and dynamic constraints at lower levels? 4.How to deal with transmission delays and/or constraints?

5 Riccardo Scattolini Dip. di Elettronica e Informazione 5 Double-flow hierarchical structure Plant Abstract level High level functions Long time scale Subsystem Intermediate functions Shorter time scale Functional requirements Information can (must?) be transmitted upwards and a negotiation procedure between the levels at different layers can be developed to achieve the final high level goals.

6 Riccardo Scattolini Dip. di Elettronica e Informazione 6 Open problems How the information transmitted from below modifies the high level requirements? How to cope with static and dynamic limitations at the lower levels? In case of redundancy, how to distribute the high level requirements between the subsystems at lower levels? How to guarantee “classical” properties (stability, tracking, robustness,…) for the overall system? How to develop efficient control algorithms?

7 Riccardo Scattolini Dip. di Elettronica e Informazione 7 Research in MPC  1991 → CRHPC, the first algorithm with guaranteed stability for linear systems  1995 → stabilizing multirate MPC algorithm for linear systems  → stabilizing MPC for nonlinear systems (state feedback, output feedback, tracking, input-output models, sampled-data models)  → robust MPC for nonlinear systems (MPC-H ∞ design, H 2 /H ∞, ISS property of open-loop and closed-loop min- max MPC)  → decentralized and distributed MPC for nonlinear systems, the consensus problem for linear systems  2007 → hierarchical MPC

8 Riccardo Scattolini Dip. di Elettronica e Informazione 8 Selected publications D.W.Clarke, R.Scattolini: "Constrained Receding-Horizon Predictive Control", Proc. IEE Part D, Vol.138, n.4, , R.Scattolini, N.Schiavoni: "A Multirate Model Based Predictive Controller", IEEE Trans. on Automatic Control, Vol.40, n.6, pp , 1995 G.De Nicolao, L.Magni, R.Scattolini: "Stabilizing Predictive Control of Nonlinear ARX Models", Automatica, Vol. 33, n.9, pp , G.De Nicolao, L.Magni, R.Scattolini: "Stabilizing Receding-Horizon Control of Nonlinear Time-Varying Systems", IEEE Trans. on Automatic Control, AC-43, , L. Magni, G. De Nicolao, R. Scattolini: “Output Feedback and Tracking of Nonlinear Systems with Model Predictive Control”, Automatica, Vol. 37, pp , Magni L., G. De Nicolao, L. Magnani, and R. Scattolini : "A Stabilizing Model-Based Predictive Controller for Nonlinear Systems", Automatica, Vol. 37, pp , Magni L., G. De Nicolao, R. Scattolini and F. Allgower: “Robust Model predictive Control of nonlinear discrete-time systems”, International Journal of Robust and Nonlinear control, Vol. 13, Issue 3-4, pp , L. Magni and R. Scattolini: “Model predictive control of continuous-time nonlinear systems with piecewise constant control”, IEEE Trans. on Automatic Control, 2004, Vol. 49, n. 6, , L. Magni, D.M. Raimondo, R. Scattolini: “Regional Input-to-State Stability for Nonlinear Model Predictive Control”, IEEE Trans. on Automatic Control, Vol. 51, n.9, , L. Magni, R. Scattolini: “Stabilizing Decentralized Model Predictive Control of Nonlinear Systems”, Automatica, Vol. 42, n. 7, pp , D.M. Raimondo, L. Magni, R. Scattolini: “Decentralized MPC of Nonlinear Systems: an Input-to-State Stability Approach”, International Journal of Robust and Nonlinear Control, 2007.

9 Riccardo Scattolini Dip. di Elettronica e Informazione 9 Industrial cooperations Automotive  Magneti Marelli Powertrain  FIAT Powertrain  Toyota Motorsport GmbH  Ferrari racing team Power systems  ENEL  Centro Elettrotecnico Sperimentale Italiano (CESI)  Foxboro Italy

10 Riccardo Scattolini Dip. di Elettronica e Informazione 10 Politecnico di Milano Aerospace Automation Biomedical Civil Chemical Electrical Electronics The largest engineering school in Italy, with engineering curricula in Mechanical Information tech. Nuclear Energy systems Physics Management Mathematics …

11 Riccardo Scattolini Dip. di Elettronica e Informazione 11 Dipartimento di Elettronica e Informazione Staff (research) More than 120 full and associate professors 60 assistant professors 120 PhD students 60 post-doc researchers 8 guest professors …

12 Riccardo Scattolini Dip. di Elettronica e Informazione 12 Automation – research staff 19 professors 8 assistant professors 17 PhD 6 post-doc researchers 2 visiting professors …

13 Riccardo Scattolini Dip. di Elettronica e Informazione 13 Teorethical activities Identification: data-mining, subspace identification, estimation and rejection of harmonic signals, LPV nonlinear identification, nonlinear identification with NARX models. Adaptive control: self-tuning control, iterative control, switching control. Robust filtering and control: H-infinity estimators and controllers, LMI design methods, robustness of control systems with structural constraints. Nonlinear control: Model Predictive Control (MPC), direct data-based design, robust controller design. Periodic systems: realization, polynomial methods for controller design, robust stabilization, fault detection and isolation. Switching systems: stabilization of controlled switching systems, control of Markov Jump Linear Systems. …

14 Riccardo Scattolini Dip. di Elettronica e Informazione 14 Recent applications vibration control in aerospace flexible structures; control of magnetic and optoelectronic devices; power plants modeling and control; combustion control; control of helicopter rotors; attitude and orbit control of spacecrafts; air traffic management; automotive control; guidance of articulated autonomous vehicles; control systems in domestic appliances; weblog data-mining


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