Banca de QUALIFICAÇÃO: TARCISIO CARLOS FARIAS PINHEIRO

Uma banca de QUALIFICAÇÃO de DOUTORADO foi cadastrada pelo programa.
DISCENTE: TARCISIO CARLOS FARIAS PINHEIRO
DATA: 13/05/2022
HORA: 09:00
LOCAL: Videoconferência via Google Meet (https://meet.google.com/jos-bnwr-kcc)
TÍTULO:

Stochastic Model Predictive Control Using Laguerre Function with Minimum Variance Kalman Filter Estimation

PALAVRAS-CHAVES:

Laguerre Function, Stochastic Model Predictive Control, Kalman Filter, ARMAX Model, Innovation Form, Minimum Variance, Hildreth’s Quadratic Programming.

PÁGINAS: 77
GRANDE ÁREA: Engenharias
ÁREA: Engenharia Elétrica
RESUMO:

This thesis proposes a stochastic model predictive control using the Laguerre function with
optimal Kalman filter state estimation. The controller design uses an ARMAX state-space
model, incorporating moving average into the stochastic formulation by a state disturbance
matrix in innovation form, which calculates a stochastic term introduced in the control law. The
optimal Kalman filter gain design copes with the minimum variance case, where the Kalman
filter weighting matrices are tuned based on the state disturbance matrix and the covariance of
estimated states of an ARMAX model.
Hildreth’s Quadratic Programming is the method used to solve the constrained optimization
problem in a stochastic scenario. This method is used together with the Laguerre function,
simplifying finding the optimal problem in constrained cases. Moreover, the Laguerre function
improves the control horizon prediction, reducing the output variance, and preserving a better
trade-off between the control effort and closed-loop performance. It is because of its orthogonal
property, making it a universal approximator that results in a parsimonious representation of the
control trajectory.
Lastly, we present two numerical examples and experimental tests with two different plants
that confirm these results through a circuit representing an under-damped coupled multivariable
system with two inputs and two outputs; and a Twin Rotor MIMO System. Then, comparing the
effects of propose strategy to the Laguerre deterministic MPC approach.

MEMBROS DA BANCA:
Presidente - 1930123 - ANTONIO DA SILVA SILVEIRA
Interno - 2153010 - CARLOS TAVARES DA COSTA JUNIOR
Interno - 6147556 - WALTER BARRA JUNIOR
Externo à Instituição - JOSE AUGUSTO FURTADO REAL
Externo à Instituição - MARIANA SANTOS MATOS CAVALCA
Externo à Instituição - TITO LUIS MAIA SANTOS