Cap tulo 2 Control Predictivo Basado en Modelo (MPC) aplicado al

!
"
#
4
)9)#:
&'
"A
)#
&' #
&
'$ !
<
(ƉƌĞĚŝĐƚŝǀŽ
ďĂƐĂĚŽĞŶŵŽĚĞůŽ"
ŚŽƌŝnjŽŶƚĞĚĞƉƌĞĚŝĐĐŝſŶ
B <
G
G <
(
ŚŽƌŝnjŽŶƚĞĚĞƐůŝnjĂŶƚĞ B
<
ĚĞƐůŝnjĂŶĚŽ
>
&'
<
,
( 0
<<
<
<
<
<
"")#
O3P@
• )>
<
<
( <
<
&
, 7 <
5
,
@
5
dž;ŬͿ
Ƶ;ŬͿ
Ŭ
(
, ĨƵƚƵƌĂƐ K
•
>
.
<
EƉ B <<
EŚ
dž;ŬͿ
E <
EĐ
>
<
• >
= G
.
& 2
G
2
<
<
.
2yh
@
•
<
B>
+
@
| ! "# $ | ! " $ | | | ! " $ | $ | "# "# ! " $ 3
<
(
>
;
<
Ƶ;ŬͮŬͿ
"+8
3A
)#
G
<
(.
(
.
2O4P
2
&'
@
• 6
.
•
&
•
G
•
&
B
2 ( 2
(
@
• :
•
:
•
:
<
•
? <
< 2
<
•
:
2
4
( 2 @ :
&' (
2
, 2
< O9P 2 2 < "%
#
&'
&' G
@
• #'$@ &' !#:
$#'
$L"
• #&
$@5
< • G
<
• &
2
.
• &
.
& < !
" . & 9
( .
& ; ( &
2
&
.
A
, &
".
#
&'
&' < (. OKP # $ ,G=-, ! ( " &' ++5 !
" *N ,G=-,
04N
OP
!
. 2 "&
&' OP ! 2
,G=-,"
&
I5G &' +,-+
' *3 N ++5 O*P 2 I5G 2
++5 <
"*
#
0
G
&' G &' O/P &' <
5 ! " #
-<$5
<
'
2
2
&'
(2
&'
(
5
#
&'$!6'7&'"
O/P
6'7&' < !&
7" - < 5 2 +,-+ .
6'7&'