EU Proposal and
MPC activities at the Politecnico di Milano
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Dipartimento di Elettronica e Informazione
2
ICT Workprogramme
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Dip. di Elettronica e Informazione
3
Functional/architectural viewpoint
Plant
Abstract level
High level functions
Long time scale
Functional requirements
Subsystem
Intermediate functions
Shorter time scale
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Dip. di Elettronica e Informazione
4
Problems
Typical problems (plant-wide control, traffic flow control, coordination, …)
1. How to structure the hierarchical system?
2. How to define the exchange of information and the definition of the control
goals at lower levels?
3. How to consider the steady-state and dynamic constraints at lower levels?
4. How to deal with transmission delays and/or constraints?
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Dip. di Elettronica e Informazione
5
Double-flow hierarchical structure
Information can (must?) be transmitted upwards
and a negotiation procedure between the levels
at different layers can be developed to achieve
the final high level goals.
Functional requirements
Subsystem
Intermediate functions
Shorter time scale
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Dip. di Elettronica e Informazione
Plant
Abstract level
High level functions
Long time scale
6
Open problems
How the information transmitted from below modifies the
high level requirements?
How to cope with static and dynamic limitations at the
lower levels?
In case of redundancy, how to distribute the high level
requirements between the subsystems at lower levels?
How to guarantee “classical” properties (stability,
tracking, robustness,…) for the overall system?
How to develop efficient control algorithms?
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Dip. di Elettronica e Informazione
7
Research in MPC
 1991 → CRHPC, the first algorithm with guaranteed stability
for linear systems
 1995 → stabilizing multirate MPC algorithm for linear systems
 1996-2002 → stabilizing MPC for nonlinear systems (state
feedback, output feedback, tracking, input-output models,
sampled-data models)
 2003-2006 → robust MPC for nonlinear systems (MPC-H∞
design, H2/H∞, ISS property of open-loop and closed-loop minmax MPC)
 2006-2007 → decentralized and distributed MPC for nonlinear
systems, the consensus problem for linear systems
 2007 → hierarchical MPC
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Dip. di Elettronica e Informazione
8
Selected publications
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D.W.Clarke, R.Scattolini: "Constrained Receding-Horizon Predictive Control", Proc. IEE Part D, Vol.138,
n.4, 347-354, 1991.
R.Scattolini, N.Schiavoni: "A Multirate Model Based Predictive Controller", IEEE Trans. on Automatic
Control, Vol.40, n.6, pp.1093-1097, 1995
G.De Nicolao, L.Magni, R.Scattolini: "Stabilizing Predictive Control of Nonlinear ARX Models",
Automatica, Vol. 33, n.9, pp-1691-1697, 1997.
G.De Nicolao, L.Magni, R.Scattolini: "Stabilizing Receding-Horizon Control of Nonlinear Time-Varying
Systems", IEEE Trans. on Automatic Control, AC-43, 1030-1036, 1998.
L. Magni, G. De Nicolao, R. Scattolini: “Output Feedback and Tracking of Nonlinear Systems with Model
Predictive Control”, Automatica, Vol. 37, pp. 1601-1607, 2001.
Magni L., G. De Nicolao, L. Magnani, and R. Scattolini : "A Stabilizing Model-Based Predictive Controller
for Nonlinear Systems", Automatica, Vol. 37, pp. 11351-1362, 2001.
Magni L., G. De Nicolao, R. Scattolini and F. Allgower: “Robust Model predictive Control of nonlinear
discrete-time systems”, International Journal of Robust and Nonlinear control, Vol. 13, Issue 3-4, pp.
229-246, 2003.
L. Magni and R. Scattolini: “Model predictive control of continuous-time nonlinear systems with piecewise
constant control”, IEEE Trans. on Automatic Control, 2004, Vol. 49, n. 6, 900-906, 2004.
L. Magni, D.M. Raimondo, R. Scattolini: “Regional Input-to-State Stability for Nonlinear Model Predictive
Control”, IEEE Trans. on Automatic Control, Vol. 51, n.9, 1548-1553, 2006.
L. Magni, R. Scattolini: “Stabilizing Decentralized Model Predictive Control of Nonlinear Systems”,
Automatica, Vol. 42, n. 7, pp. 1231-1236, 2006.
D.M. Raimondo, L. Magni, R. Scattolini: “Decentralized MPC of Nonlinear Systems: an Input-to-State
Stability Approach”, International Journal of Robust and Nonlinear Control, 2007.
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Dip. di Elettronica e Informazione
9
Industrial cooperations
Automotive
 Magneti Marelli Powertrain
 FIAT Powertrain
 Toyota Motorsport GmbH
 Ferrari racing team
Power systems
 ENEL
 Centro Elettrotecnico Sperimentale Italiano (CESI)
 Foxboro Italy
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10
Politecnico di Milano
The largest engineering school in Italy, with
engineering curricula in
Aerospace
Automation
Biomedical
Civil
Chemical
Electrical
Electronics
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Mechanical Information
tech.
Nuclear
Energy systems
Physics
Management
Mathematics
…
Dip. di Elettronica e Informazione
Dipartimento di Elettronica e Informazione Staff
(research)
More than 120 full and associate professors
60 assistant professors
120 PhD students
60 post-doc researchers
8 guest professors
…
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Dip. di Elettronica e Informazione
11
Automation – research staff
19 professors
8 assistant professors
17 PhD
6 post-doc researchers
2 visiting professors
…
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Dip. di Elettronica e Informazione
12
Teorethical activities
13
Identification: data-mining, subspace identification, estimation and rejection of
harmonic signals, LPV nonlinear identification, nonlinear identification with
NARX models.
Adaptive control: self-tuning control, iterative control, switching control.
Robust filtering and control: H-infinity estimators and controllers, LMI design
methods, robustness of control systems with structural constraints.
Nonlinear control: Model Predictive Control (MPC), direct data-based design,
robust controller design.
Periodic systems: realization, polynomial methods for controller design, robust
stabilization, fault detection and isolation.
Switching systems: stabilization of controlled switching systems, control of
Markov Jump Linear Systems.
…
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Dip. di Elettronica e Informazione
Recent applications
vibration control in aerospace flexible structures;
control of magnetic and optoelectronic devices;
power plants modeling and control;
combustion control;
control of helicopter rotors;
attitude and orbit control of spacecrafts;
air traffic management;
automotive control;
guidance of articulated autonomous vehicles;
control systems in domestic appliances;
weblog data-mining
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Dip. di Elettronica e Informazione
14