Switched Fractional State-Space Predictive Control Methods for Non-Linear Fractional Systems

In the paper two approaches for a switched fractional-order State-space Model Predictive Control (FOSMPC) for non-linear fractional systems are proposed. In the first one the model is successively linearized on-line and used for prediction, in the second one a linear approximation along the future process trajectory is also used. In both cases, as a result of linearization, the future control policy is calculated by means of quadratic optimization. The discussed FOSMPC algorithms are able to compensate for deterministic constant-type external and internal disturbances. In order to illustrate implementation steps of both control methods, precise algorithms of calculations to be carried out on-line at each sampling instant are given.