Defesa de Dissertação de Mestrado – Bruno Martins Lima – 06/07/2018
06/07/2018 17:23
| Defesa de Dissertação de Mestrado | |
| Aluno | Bruno Martins Lima |
| Orientador | Prof. Julio Elias Normey-Rico, Dr. – DAS/UFSC |
| Data | 06/07/2018 (sexta-feira) – 13h30
Sala PPGEAS I (piso superior) |
| Banca | Prof. Julio Elias Normey-Rico, Dr. – Presidente – DAS/UFSC;
Prof. Mario Cesar M. Massa Campos, Dr. – Petrobras; Prof. Paulo Renato da Costa Mendes, Dr. – DAS/UFSC; Prof. Aguinaldo Silveira e Silva, Dr. – EEL/UFSC; Prof. Gustavo Arthur de Andrade, Dr. – DAS/UFSC (suplente). |
| Título | Economic Model Predictive Control and Optimal Estimation for Nonlinear Systems |
| Abstract: Nonlinear processes frequently appear in the industry and represent a challenge for estimation and control. To deal with them, it is often necessary to use nonlinear techniques which leads to more advanced theory, complex implementation and high computational cost. For estimation, the linear and nonlinear versions of Kalman filter and Moving Horizon Estimation (MHE) were implemented in a benchmark process and compared in different scenarios. The linear techniques are shown to be inadequate for the nonlinear process. The nonlinear MHE has the best performance since it uses an estimation horizon and constraints but it requires more computation power. It was also shown how to design an observer for systems with delay with a focus in robustness. A comparison was made between an observer-predictor structure and a filtered Smith Predictor. The former showed good results and is expected to facilitate the design of predictors for MIMO systems. For control, optimal strategies with a focus in economic objectives are explored. Four types of Model Predictive Control (MPC) are implemented: pure tracking nonlinear MPC, pure Economic MPC (EMPC), regularized EMPC (reg-EMPC) and EMPC with stabilizing constraint (EMPC-sc). The conditions that leads to stability are presented. The pure EMPC has the best economic performance but has a periodic behavior. The reg-EMPC guarantees stability but is conservative. The EMPC-sc has a good economic performance, is stable and is fairly easy to design. | |
