A Dual-Mode Model Predictive Control Algorithm Trajectory Tracking in Discrete-Time Nonlinear Dynamic Systems

In this paper, a dual- mode model predictive/ linear control method is presented, which extends the concept of dual-mode model predictive control (MPC) to trajectory tracking control of nonlinear dynamic systems described by discrete- time state-space models. The dual- mode controller comprises of a time-varying linear control law, implemented when the states lie within a sufficiently small neighborhood of the reference trajectory, and a model predictive control strategy driving the system toward that neighborhood. The boundary of this neighborhood is characterized so as to ensure stability of the closed- loop system and terminate the optimization procedure in a finite number of iterations, without jeopardizing the stability of the closed- loop system. The developed controller is applied to the central air handling unit (AHU) of a two- zone variable air volume (VAV) heating, ventilation, and air conditioning (HVAC) system.