A Continuous-Time Formulation of Nonlinear Model Predictive Control

@article{Soroush1992ACF,
  title={A Continuous-Time Formulation of Nonlinear Model Predictive Control},
  author={Masoud Soroush and Costas Kravaris},
  journal={1992 American Control Conference},
  year={1992},
  pages={1561-1567}
}
In this paper, a general continuous-time nonlinear formulation of model predictive control is proposed. The control law calculates the manipulated input that minimizes a quadratic performance index in the presence of input constraints and process dead-time. Connections between the proposed approach and existing controllers in the differential geometric literature are established. The theory is illustrated by a CSTR example. 
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