Suboptimal nonlinear predictive control based on multivariable neural Hammerstein models

This paper describes a computationally efficient nonlinear Model Predictive Control (MPC) algorithm in which the neural Hammerstein model is used. The Multiple-Input Multiple-Output (MIMO) dynamic model contains a neural steady-state nonlinear part in series with a linear dynamic part. The model is linearized on-line, as a result the MPC algorithm requires solving a quadratic programming problem, the necessity of nonlinear optimization is avoided. A neutralization process is considered to discuss properties of neural Hammerstein models and to show advantages of the described MPC algorithm. In practice, the algorithm gives control performance similar to that obtained in nonlinear MPC, which hinges on non-convex optimization.