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EU Proposal and MPC activities at the
Politecnico di Milano Riccardo ScattoliniDipartim
ento di Elettronica e Informazione
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ICT Workprogramme
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Functional/architectural viewpoint
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Problems

• Typical problems (plant-wide control, traffic
  flow control, coordination, )
• How to structure the hierarchical system?
• How to define the exchange of information and the
  definition of the control goals at lower levels?
• How to consider the steady-state and dynamic
  constraints at lower levels?
• How to deal with transmission delays and/or
  constraints?

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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.
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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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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-H8 design, H2/H8, ISS property of open-loop
  and closed-loop min-max MPC)
• 2006-2007 ? decentralized and distributed MPC for
  nonlinear systems, the consensus problem for
  linear systems
• 2007 ? hierarchical MPC

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Selected publications

• 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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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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Politecnico di Milano
The largest engineering school in Italy, with
engineering curricula in

• Aerospace
• Automation
• Biomedical
• Civil
• Chemical
• Electrical
• Electronics

Mechanical Information tech. Nuclear Energy
systems Physics Management Mathematics
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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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Automation research staff

• 19 professors
• 8 assistant professors
• 17 PhD
• 6 post-doc researchers
• 2 visiting professors

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Teorethical activities

• 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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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