Nonlinear Programming Strategies for State Estimation and Model Predictive Control

  title={Nonlinear Programming Strategies for State Estimation and Model Predictive Control},
  author={Victor M. Zavala and Lorenz T. Biegler},
Sensitivity-based strategies for on-line moving horizon estimation (MHE) and nonlinear model predictive control (NMPC) are presented both from a stability and computational perspective. These strategies make use of full-space interior-point nonlinear programming (NLP) algorithms and NLP sensitivity concepts. In particular, NLP sensitivity allows us to partition the solution of the optimization problems into background and negligible on-line computations, thus avoiding the problem of… CONTINUE READING
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