Control of MIMO Systems with iMO-NMPC Strategy

This work presents the development of the intelligent Multi-objective non-linear MPC (iMO-NMPC) strategy applied to MIMO nonlinear systems. This strategy has been validated with nonlinear SISO and MISO systems, and its natural evolution is to be validated with MIMO systems. In this work, the MIMO system consists of two nonlinear SISO systems stacked and without any coupling. Since iMO-NMPC is a predictive controller, Neural Networks will be used to predict the dynamics of the MIMO system. A step by step validation procedure is presented, starting with an analysis of the quality of the predictions. Finally, parameter influence of the proposed iMO-NMPC on the control performance is studied.