SOLVE THE NONLINEAR PROGRAMMING PROBLEM (14) SUBJECT TO PREDICTION...

2. Solve the nonlinear programming problem (14) subject to prediction model (12) withinitial conditions ˜x

k

=

xˆ

k

and cost functional (13). It should be noted, that the valueFrom the previous discussion, the most significant MPC features can be noted:of the functionJ

_k

(

x

_k

, ˜u

_k

, ˜u

_k+1

, ... ˜u

_k+P−1

)

is obtained by numerically integrating the pre-• Both linear and nonlinear model of the plant can be used as a prediction model.diction model (12) and then substituting the predicted behavior ¯x ∈ E

^nP

into the costfunction (13) given the programmed control{u^˜

_k

, ˜u

_k+1

, ..., ˜u

_k+P−1

}over the prediction• MPC allows taking into account constraints imposed both on the input and output vari-ables.horizon and initial conditions ˆx

_k

.Plasma stabilization system design on the base of model predictive control 203