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Model Predictive Control.pdf

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    To Janet E.F.C. To Carlos and Marta C.B.
    Series Editors’ Foreword The topics of control engineering and signal processing continue to flourish and develop. In common with general scientific investigation, new ideas, concepts and interpretations emerge quite spontaneously and these are then discussed, used, discarded or subsumed into the prevailing subject paradigm. Sometimes these innovative concepts coalesce into a new sub-discipline within the broad subject tapestry of control and signal processing. This preliminary battle between old and new usually takes place at conferences, through the Internet and in the journals of the discipline. After a little more maturity has been acquired by the new concepts then archival publication as a scientific or engineering monograph may occur. A new concept in control and signal processing is known to have arrived when sufficient material has evolved for the topic to be taught as a specialised tutorial workshop or as a course to undergraduate, graduate or industrial engineers. Advanced Textbooks in Control and Signal Processing are designed as a vehicle for the systematic presentation of course material for both popular and innovative topics in the discipline. It is hoped that prospective authors will welcome the opportunity to publish a structured and systematic presentation of some of the newer emerging control and signal processing technologies in the textbook series. The books of E.F. Camacho and C. Bordons on model predictive control provide a valuable archive of the development of this particular control technology and theoretical paradigm. In 1995 Professors Camacho and Bordons published their monograph Model Predictive Control in the Process Industries (ISBN 3-540- 19924-1) in the Springer-Verlag London Advances in Industrial Control series. As the title demonstrates, this monograph emphasized the widespread use of the model predictive control technique in the process industries. It was the use of simple models and the ability of the method easily to accommodate system constraints that gave the method its advantage over classical control. Another feature was the optimisation framework of the method where minimising energy and resource usage are widely used concepts in the process industries. The Advances in Industrial Control monograph on model predictive control was a very successful book. Somehow the mix of introductions to Model Predictive Control theory and the empirical practical guidelines developed by the authors was readily absorbed by industrial engineers and academic researchers alike. So that
    viii Series Editors’ Foreword just three years later in 1998, the monograph was revised and reincarnated as a volume in the Advanced Textbooks in Control and Signal Processing series simply titled Model Predictive Control (ISBN 3-540-76241-8). Now a further five years has passed and the subject of model predictive control continues to grow along with the stature and experience of the distinguished authors, Professors Camacho and Bordons. This second edition has three new chapters and an up-graded applications chapter. The mix of theory and empirical practical insight remains the same but the new chapters are on nonlinear model predictive control, applications to hybrid systems and on fast implementation methods. The new applications included are for an olive oil mill and a robot problem. Thus the second edition archives recent theoretical developments to nonlinear and hybrid systems whilst the robot application broadens the applications archive to areas other than the process industries. We welcome this second edition of Professors Camacho and Bordons’ Model Predictive Control. Engineers and control researchers new to the predictive control methods will find the early chapters of the book provide an excellent historical and tutorial introduction to the techniques. Seasoned researchers will be interested to add to their knowledge an assessment of the potential of predictive control methods for nonlinear and hybrid systems. In five years’ time we may even be looking forward to a further update of this very successful control engineering method in a third edition of a fine Advanced Textbooks in Control and Signal Processing volume! M.J. Grimble and M.A. Johnson Industrial Control Centre Glasgow, Scotland, U.K. October 2003
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