Nonlinear MPC for Feedback-Interconnected Systems: a Suboptimal and Reduced-Order Model Approach
Fuente:
arXiv
Enregistré dans:
| Auteurs principaux: | , , |
|---|---|
| Format: | Preprint |
| Publié: |
2025
|
| Sujets: | |
| Accès en ligne: | |
| Tags: |
Ajouter un tag
Pas de tags, Soyez le premier à ajouter un tag!
|
| _version_ | 1866915907542974464 |
|---|---|
| author | Di Gregorio, Stefano Carnevale, Guido Notarstefano, Giuseppe |
| author_facet | Di Gregorio, Stefano Carnevale, Guido Notarstefano, Giuseppe |
| contents | In this paper, we propose a suboptimal and reduced-order Model Predictive Control (MPC) architecture for discrete-time feedback-interconnected systems. The numerical MPC solver: (i) acts suboptimally, performing only a finite number of optimization iterations at each sampling instant, and (ii) relies only on a reduced-order model that neglects part of the system dynamics, either due to unmodeled effects or the presence of a low-level compensator. We prove that the closed-loop system resulting from the interconnection of the suboptimal and reduced-order MPC optimizer with the full-order plant has a globally exponentially stable equilibrium point. Specifically, we employ timescale separation arguments to characterize the interaction between the components of the feedback-interconnected system. The analysis relies on an appropriately tuned timescale parameter accounting for how fast the system dynamics are sampled. The theoretical results are validated through numerical simulations on a mechatronic system consisting of a pendulum actuated by a DC motor. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2511_19336 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Nonlinear MPC for Feedback-Interconnected Systems: a Suboptimal and Reduced-Order Model Approach Di Gregorio, Stefano Carnevale, Guido Notarstefano, Giuseppe Optimization and Control Systems and Control In this paper, we propose a suboptimal and reduced-order Model Predictive Control (MPC) architecture for discrete-time feedback-interconnected systems. The numerical MPC solver: (i) acts suboptimally, performing only a finite number of optimization iterations at each sampling instant, and (ii) relies only on a reduced-order model that neglects part of the system dynamics, either due to unmodeled effects or the presence of a low-level compensator. We prove that the closed-loop system resulting from the interconnection of the suboptimal and reduced-order MPC optimizer with the full-order plant has a globally exponentially stable equilibrium point. Specifically, we employ timescale separation arguments to characterize the interaction between the components of the feedback-interconnected system. The analysis relies on an appropriately tuned timescale parameter accounting for how fast the system dynamics are sampled. The theoretical results are validated through numerical simulations on a mechatronic system consisting of a pendulum actuated by a DC motor. |
| title | Nonlinear MPC for Feedback-Interconnected Systems: a Suboptimal and Reduced-Order Model Approach |
| topic | Optimization and Control Systems and Control |
| url | https://arxiv.org/abs/2511.19336 |