چكيده به لاتين
In this research, the model predictive controller for linear parameter varying is introduced. This controller, while having a guaranteed performance, is resistant to uncertain and limited disturbances. In addition, taking into account the control signal constraint and the maximum perturbation applied to the system ensures the recursive feasibility. One of the other advantages of this method is that it does not need to measure disturbances and system states. This controller has two limitations. First, it is only stabilizer, which means that all states are set to zero, which, according to the method described in this paper, can be detected by the controller. The second limitation of the stated control method is the increase in the solving time of the optimization problem with the complexity of the linear system model with the parameter, which makes its practical implementation very difficult or costly. In this study, using an offline method to calculate the model predictive controller, a large amount of computing is reduced, and the possibility of implementing this method on the simplest controllers will also be provided. In this context, the dynamism of the four-tank system is an appropriate example of nonlinear parameter varying systems that are used to evaluate the above-mentioned method. Finally, the results of the practical test are presented on the four-tank system.
