# Difference between revisions of "CDS 110b: Receding Horizon Optimal Control"

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* {{cds110b-wi07 pdfs|L8-2_rhc.pdf|Lecture notes on RHC analysis}} (Fri) | * {{cds110b-wi07 pdfs|L8-2_rhc.pdf|Lecture notes on RHC analysis}} (Fri) | ||

* [http://www.cds.caltech.edu/~murray/courses/cds110/wi07/mp3/21Feb07.mp3 MP3] of Wednesday lecture, 21 Feb 2007 | * [http://www.cds.caltech.edu/~murray/courses/cds110/wi07/mp3/21Feb07.mp3 MP3] of Wednesday lecture, 21 Feb 2007 | ||

+ | * [http://www.cds.caltech.edu/~murray/courses/cds110/wi07/mp3/23Feb07.mp3 MP3] of Friday lecture, 23 Feb 2007 | ||

* {{cds110b-wi07 pdfs|hw7.pdf|HW #7}} (due 29 Feb 07) | * {{cds110b-wi07 pdfs|hw7.pdf|HW #7}} (due 29 Feb 07) | ||

## Revision as of 02:49, 24 February 2007

WARNING: This page is for a previous year.See current course homepage to find most recent page available. |

CDS 110b | Schedule | Project | FAQ | Reading |

This set of lectures provides an introduction to receding horizon control and its use for two degree of freedom control design.

## Course Materials

- Lecture slides on RHC overview (Wed)
- Lecture notes on RHC analysis (Fri)
- MP3 of Wednesday lecture, 21 Feb 2007
- MP3 of Friday lecture, 23 Feb 2007
- HW #7 (due 29 Feb 07)

## References and Further Reading

Online Control Customization via Optimization-Based Control, R. M. Murray et al. In Software-Enabled Control: Information Technology for Dynamical Systems, T. Samad and G. Balas (eds.), IEEE Press, 2001. This paper talks about the CLF-based nonlinear RHC approach and its application on the Caltech ducted fan using NTG.

Constrained model predictive control: Stability and optimality, D. Q. Mayne, J. B. Rawlings, C. V. Rao and P. O. M. Scokaert. Automatica, 2000, Vol. 36, No. 6, pp. 789-814. This is one of the most referenced comprehensive survey papers on MPC. Gives a nice overview about its history and explains the most important issues and various approaches.