Nonlinear model predictive control algorithm based on sensitivities equations

A new nonlinear model predictive control algorithm based on sensitivities equations is presented to the problem of nonlinear systems. By analyzing the sensitivities equations of the nonlinear system, a linear approximation of the derivatives information used in on-line optimization is obtained, and then the LM algorithm is used to solve the optimal problem in every sample time. The on-line computation is reduced greatly. The simulation result shows the validity and feasibility of the proposed algorithm.