Design and Analysis of the Domain of Attraction for Generalized Predictive Control with Input Nonlinearity
输入非线性广义预测控制系统的吸引域分析与设计

For systems with input nonlinearities,including input saturation and Hammer-stein nonlinearity,the Two Step Generalized Predictive Control(TSGPC)scheme is adopted.Firstly,the input nonlinearities are not considered and linear GPC is applied to obtain thedesired intermediate variable.Then,the Hammerstein nonlinearity is dealt with by solvingequation and the saturation constraint is satisfied by desaturation.This paper transformsTSGPC into state space representation,and studies its domain of attraction.It transformsthe solving of the domain of attraction into an iterative optimization problem and givesalgorithm for this solution.It also gives the tuning algorithm for achieving desired domainof attraction.The theoretical result is validated by simulation.