TY  - JOUR
ID  - scholars128
KW  - Actuators; Computer simulation; Integer programming; Mathematical models; Multivariable control systems
KW  -  Actuator saturation and backlash; Hybrid MPC; MIQP
KW  -  Control systems
N2  - In this paper, we develop a hybrid design framework of model predictive controller (MPC) for multivariable systems that simultaneously and explicitly addresses the actuator saturation and backlash. The discrete characteristics of the actuator backlash allows us to mathematically express it as a set of mixed-integer linear inequalities constraint in the inputs. As a result, the constrained MPC design is formulated as solving a mixed-integer quadratic programming (MIQP) problem. Furthermore, the proposed MIQP-based design is applied only in the proximity of steady state operating points after locating the active backlash and providing the estimate of the backlash size. Simulation studies are presented to demonstrate how the hybrid MPC performs when applied to an industrial case study of fluid catalytic cracking unit. It is shown that in the presence of actuator saturation and backlash the closed-loop performance can be improved substantially when applying the hybrid method as compared to the traditional design approaches. © 2006 Elsevier Ltd. All rights reserved.
IS  - 7
VL  - 16
A1  - Zabiri, H.
A1  - Samyudia, Y.
JF  - Journal of Process Control
UR  - https://www.scopus.com/inward/record.uri?eid=2-s2.0-33646564414&doi=10.1016%2fj.jprocont.2006.01.003&partnerID=40&md5=458b95c932a9aeca640e0d3c46a312df
Y1  - 2006///
SP  - 693
TI  - A hybrid formulation and design of model predictive control for systems under actuator saturation and backlash
N1  - cited By 72
AV  - none
EP  - 709
PB  - Elsevier Ltd
SN  - 09591524
ER  -