A new Takagi-Sugeno-Kang model-based stabilizing explicit MPC formulation: An experimental case study with implementation embedded in a PLC

• Published in: Expert systems with applications Vol. 210; p. 118369
• Main Authors: P. G. Mendes, Teófilo, Schnitman, Leizer, dos Reis Nogueira, Idelfonso Bessa, Mafalda Almeida Peixoto Ribeiro, Ana, Egídio Rodrigues, Alírio, Miguel Loureiro, José, Martins, Márcio A.F.
• Format: Journal Article
• Language: English
• Published: Elsevier Ltd 30.12.2022
• Subjects: Explicit MPC; PLC implementation; Stabilizing control law; Takagi-Sugeno-Kang Model; Explicit MPC; Stabilizing control law; Takagi-Sugeno-Kang Model; PLC implementation
• ISSN: 0957-4174; 1873-6793
• DOI: 10.1016/j.eswa.2022.118369

•A new re-interpretation of explicit MPC solutions via the Takagi-Sugeno-Kang model.•A novel stabilizing MPC formulation with relaxed terminal constraints.•Application of the proposed MPC embedded in a PLC following IEC-61131-3 standard.•Experimental results obtained from a DC motor validate the proposed method. This manuscript presents a new fuzzy approach applied to Model Predictive Control (MPC). We propose to re-interpret the table of IF-THEN rules from an explicit MPC solution as an expert system. The first contribution of this work is a modification in the Takagi-Sugeno-Kang (TSK) structure that allows modeling this table of IF-THEN rules without approximation and maintaining the performance of the explicit MPC solution. The second contribution is a new MPC formulation that guarantees closed-loop system stability by combining a one-layer optimization, a suitable Jordan decomposition-based state-space model, and relaxed terminal constraints. These proposals were implemented in a general-purpose Programmable Logic Controller, following the IEC-61131-3 standard, and applied to control the speed of a physical DC motor. The new modified TSK method and the stabilizing MPC formulation showed low-level computational effort and the desired control performance. The results indicate the potential application in standard automation systems available at industrial process plants.