Weekly Research Progress Report on 21st October 2018

Last week I derived the equation of desired output and states in the terms of
past/present known value and decision making sections. This week I do more
derivation of this equation to make a simplification compact matrix from of this
equation. I also learned how we can construct an unbiased model prediction
(minimizing offset) and estimate disturbance. Later I developing unbiased
prediction using steady-state estimates. And finally express prediction in term
deviation variable.

1. Here I am deriving to find compact equation from my previous work

From this equation we can write

And after further simplify

 Weekly Research Progress Report on 21st October 2018

2. To make this prediction unbiased (remove offset) and to do so we need to

estimate disturbance properly.
In steady state,
 Weekly Research Progress Report on 21st October 2018

𝑌𝑝 =𝑑𝑝 + 𝐺𝑝 (0)𝑢 and 𝑌𝑚 =𝑑𝑚 + 𝐺𝑚 (0)𝑢 for a signal with G gain

Now we can make the output unbiased if we can ensure

𝑌𝑝 =𝑑𝑝 + 𝐺𝑝 (0)𝑢 =𝑌𝑚 =𝑑𝑚 + 𝐺𝑚 (0)𝑢 and hence we can measure the 𝑑𝑚
𝑑𝑚 = 𝑌𝑝 (𝑘) − 𝐺𝑚 (0)𝑢
Here, 𝑌𝑝 (𝑘) = 𝐶𝑢𝑟𝑟𝑒𝑛𝑡 𝑚𝑒𝑎𝑠𝑢𝑟𝑒𝑚𝑒𝑛𝑡 𝑜𝑓 𝑡ℎ𝑒 𝑜𝑢𝑡𝑝𝑢𝑡 𝑤ℎ𝑖𝑐ℎ 𝑖𝑠 𝑘𝑛𝑜𝑤𝑛
𝐺𝑚 (0) = 𝑘𝑛𝑜𝑤𝑛 𝑎𝑠 𝑚𝑜𝑑𝑒𝑙 And u= 𝑤𝑒 𝑐ℎ𝑜𝑜𝑠𝑒

If we consider our model output has no inherent disturbance, then we can write
𝑌𝑚 = 𝐺𝑚 (0)𝑢 and we will find 𝑌𝑝 (𝑘) − 𝑌𝑚 (𝑘) = 𝑑𝑚 .
So finally we can come to the point that, we can take our prediction equation as
𝑌→𝑘+𝑚 = 𝑌→𝑚 +𝐿𝑑 (𝑘); 𝑑𝑘 = 𝑌𝑝 (𝑘) - 𝑌𝑚 (𝑘)

3. Now we are developing unbiased prediction using steady-state estimates:

From the equation
𝑌𝑘 = 𝐶𝑥𝑘 + 𝑑𝑘 ; 𝑎𝑛𝑑 𝑋𝑘+1 = 𝐴𝑥𝑘 + 𝐵𝑢;
𝑌𝑠𝑠 = 𝐶𝑥𝑠𝑠 + 𝑑; 𝑎𝑛𝑑 𝑋𝑠𝑠 = 𝐴𝑥𝑠𝑠 + 𝐵𝑢𝑠𝑠 ;
 Weekly Research Progress Report on 21st October 2018

Here if we select our target value 𝑌𝑠𝑠 𝑎𝑛𝑑 disturbance earlier, we can calculate
both states (𝑋𝑠𝑠 ) and inputs (𝑢𝑠𝑠 ).

4. Prediction in term deviation variable:

Disturbance is eliminated by the term of deviation

That mean if state and input both have no deviation we can write this. Again
 Weekly Research Progress Report on 21st October 2018

This is the matrix represent if there’s input has a disturbance.

In the above description I am constructing MPC in the thesis paper which I am

working. I still require consider performance index to develop cost function which
will controls function of optimizer of MPC.