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O
B
IH
L
Huy n Linh
U
NG D
T
U KHI N HI
I
TRONG
U KHI N D
LU
N
THU T
2015
B
O
IH
Huy n Linh
U
KHI N HI
NG D
U
I
U KHI N D
thu
N
u khi n & T
: 62. 52. 02. 16
LU
THU T
NG D N KHOA H C
PGS. TS. L i Kh
2015
O
B
IH
U NG D
U KHI N HI
I
TRONG
U KHI N D
LU
T
N
THU T
2015
B
O
IH
U
KHI N HI
NG D
U
I
U KHI N D
thu
N
u khi n & T
: 62. 52. 02. 16
LU
THU T
NG D N KHOA H C
2015
i
ii
iii
................................................................................................... i
........................................................................................................ ii
............................................................................................................. iii
....................................... vi
......................................................................... ix
................................................................................x
.................................................................................................................1
1.
n ........................................................................1
............................3
..........................................................................................4
.................................4
.............................................................................................5
7
1.1.
............................7
1.1.1.
.....................................................................................................7
1.1.2.
..........................................8
1.1.3.
.............10
1.2.
.....................15
1.3.
......20
1.4.
phi t
......................21
1.5.
..................................25
1.6.
.....................................................................................26
27
2.1.
.........................................27
2.1.1
.............................................................................27
2.1.2
.............................................................28
2.1.3
.......................................................................30
iv
2.1.4
...............................................................................................................31
2.2.
...............................32
2.3.
.............................................33
2.3.1.
.......................................................33
2.3.2.
...........................................................................................41
2.4.
.......44
2.5.
n
................................................46
2.5.1.
....................................................................47
2.5.2.
...........................................................................................54
2.6.
................................................................57
2.7.
.....................................................................................59
61
3.1.
..................................................................................................61
3.2.
.........................................................................................................62
3.3.
.....................66
3.4.
...........................................71
3.4.1.
76
3.4.2.
79
3.5.
3.5.1.
....................81
h
Cb
...................................................................................................82
v
hai
3.5.2.
h
Cb
hai
..................................................................................................87
3.6.
...............................................92
Cb
3.6.1.
.......92
Cb
3.6.2.
h
...........................................................................................94
3.7.
.............................................96
3.7.1.
Cb
...................................................................96
3.7.2.
Cb
3.8.
h
............................................100
...................................................................................105
............................................................................107
........109
..................................................................................110
vi
tk
X (tk )
tk+1, tk+2
x (t )
u(t ) , U(t )
ai
f ( ) , F(X)
f (X)
f ( X ) , F( X )
*
wi* , wij
,
M
*
*
i
,
wi , wij
wi , wij
A, B, D
c
O
Im
i
(X)
, Cij
i
,
ij
e(t ) , E(t )
f (X)
P,
Q
rmin (Q) , rmax (Q)
0
vii
, Pn
n
m2 i
n m2
i
P
udk (t ), U dk (t )
ub (t ), Ub (t )
( B) ,
( D)
,
k
B, D
Compact
h
Cb
l
T1, T2, T3
T
mv1, mv2, mv3
K
ARMAX
Autoregressive Moving Average with Exogenous
CSTR
Continuous Stirred Tank Reactor
DMC
Dynamic matrix control
DLP
Double-Layer Perceptron feedforward neural network
EHAC
Extended Horizon Adaptive Control
FIR
Finite Impulse Response
HEICON
Hierarchical Constraint Control
IMPC
Internal Model Predictive Control
GPC
Generalized Predictive Control
LS
Least Squares
MAC
Model Algorithmic Control
MIMO
Multiple Input Multiple Output
MPC
Model Predictive Control
NAV
Nonlinear Absolute Values
viii
OPC
Optimum Predictive Control
PFC
Predictive Functional Control
PID
Proportional Integral Derivative
RMPCT
Robust MPC Technology
RBF
Radial Basic Funtions
SMC
Sequential Monte Carlo
SISO
Single Input Single Output
ix
1.1.
................... 14
1.2.
.................................................................................. 17
1.3.
.. 17
x
DANH
1.1
....... 8
1.2.
.................. 9
1.3
................... 11
................................. 25
2.1.
....................................... 27
2.2.
................................................................. 28
2.3.
...................................... 29
2.4.
................................................. 36
2.5.
n
2.6.
............................................................. 41
............. 42
(2.35)
2.7.
n
2.8.
(2.35) ........................................... 43
2.9
X
...... 43
(2.35)
..................................................................................... 43
............... 44
2.11.
2.12.
, f m2 ( X )
................................................................. 45
f1 ( X ) , f 2 ( X ) ,
n
(2.44)....................................................................................... 48
2.13.
.................................................................................................... 54
2.14.
n
.............................................................................................................................. 55
2.15.
2.16.
(2.74) ......................................... 55
(2.74)
........................................................................... 56
2.17
(2.74) ................... 56
2.18.
...... 59
xi
3.1.
.............................................................................................. 68
3.2.
........... 70
3.3.
.............................. 72
3.4.
....................... 82
3.5.
......................................................... 83
3.6.
X)
3.7.
... 83
1
2
sau khi
..................................................................................................... 84
h
Cb
............................................................. 85
3.9.
........................................................................................ 86
3.10.
1
2
sau khi
................................... 86
h
Cb
.............................................................................................................................. 87
3.12.
......................... 88
3.13.
hai
3.14.
n... 88
1
sau khi
2
hai
..................................................................... 89
3.15.
..................................................................... 90
xii
3.16.
..................................................................................................................... 91
3.17.
ch f2
1
sau khi
hai
3.18.
.................................... 91
h
Cb
hai
..................................................................................................... 92
b
........................................................ 93
b
5s ................................................... 93
ung
............................... 95
b
3.22.
b
IMPC
5s ..................... 95
3.23.
b ..................................................................................................................
97
b
........................................................................ 97
3.25.
b
5s ................................................................................... 98
3.26.
b
............................ 99
b
........................................................................................ 99
xiii
3.28
b
5s .............................................................................................................. 99
b
.................................................................................. 101
b .............
h
102
Cb
,
0s .................................................. 102
3.32.
h
Cb
,
5s ........................................................ 103
b
............................................................................................................................ 104
3.34
h
Cb
0s .................................................. 104
3.35
h
Cb
5s .............................................................. 105
1
1.
,
(MPC - Model Predictive Control).
[17], [30], [47], [74].
[5], [6], [17], [30], [70], [74]
.
2
(slow dynamical plants)
[17], [30], [57], [70]. T
[30], [70]
D. Q.
(extra level of complexity)
vec
,
[50]
r
,
,d
:
(uncertain)
,
(state-dependent disturbances)
(RBF - Radial Basic Functions)
t
3
(IMPC - Internal Model Predictive Control)
.Q
t ra.
2.
,
.
i vec
g
30].
4
3.
4.
1.
2.
P
tr
3.
c
4.
hai
hai
5
5.
T
.
5.
,
.
.V
6
.
CSTR
kh
,
.
7
T NG QUAN V
Equation Chapter (Next) Section 1
1.1.
1.1.1.
(Receding Horizon Control)
[52], [74]
[15], [17], [31].
trong
U
8
[57]
,...[70], [71].
1.1.
nh v
1.1.2.
ng d
u khi
x
d
[49]
(a finite time horizon).
1.2.
t
