Nonlinear Model Predictive Control of Combustion Engines: From Fundamentals to Applications (Advances in Industrial Control)

AIC Series Editors’ Foreword
Preface
	Scope of the Book
	Origin of the Book
	Acknowledgments
Contents
1 Introduction
	1.1 Motivation to Improve Engine Performance
	1.2 Improving the Engine Performance by Advanced Control
	1.3 Control Algorithms for Engine Control
	1.4 Introduction to Model Predictive Control
		1.4.1 Formulation of the Optimization Problem
		1.4.2 Control-Oriented Modeling
		1.4.3 Numerical Optimization
	1.5 Aims and Outline of the Book
	References
2 Model-Based Approach with PID Controllers
	2.1 Multiple-Input Multiple-Output Systems
		2.1.1 Introduction to MIMO Systems
		2.1.2 Relative Gain Array
		2.1.3 System Decoupling
	2.2 Actuator Constraints
		2.2.1 Integrator Windup
		2.2.2 Directionality in Constrained MIMO Systems
	2.3 Control Approach Based on Look-Up Tables
	References
3 Mathematical Fundamentals of Optimization
	3.1 Introduction to Optimization Problems
	3.2 Convex Optimization Problems
	3.3 Classes of Optimization Problems
		3.3.1 Dynamic Optimization
		3.3.2 Static Optimization
	3.4 Optimality Conditions for NLPs
		3.4.1 Unconstrained Optimization Problems
		3.4.2 Constrained Case: Equality Constraints
		3.4.3 Constrained Case: Inequality and Equality Constraints
		3.4.4 Graphical Interpretation
	References
Part I Model Predictive Control
4 Linear Model Predictive Control
	4.1 Linear Model Representation
		4.1.1 Discrete-Time State-Space Model for Linear Systems
		4.1.2 Discretization of Linear Continuous-Time State-Space Models
	4.2 Cost Function for Linear MPC
	4.3 Unconstrained Linear MPC
		4.3.1 Analytic Solution of the Optimization Problem
		4.3.2 Resulting Control Law
	4.4 Constrained Linear MPC
		4.4.1 Dense Formulation
		4.4.2 Sparse Formulation
		4.4.3 Comparison of Dense and Sparse Formulations
		4.4.4 Control Structure of Constrained Linear MPC
		4.4.5 Numerical Solution of the Resulting Quadratic Program
	4.5 Linear Time-Variant (LTV) Model Predictive Control
	4.6 Numerical Examples for Linear MPC
	References
5 Nonlinear Model Predictive Control
	5.1 Introduction to Nonlinear MPC
	5.2 Numerical Solution of the Resulting Nonlinear Program
		5.2.1 Solving the Unconstrained NLP
		5.2.2 Solving the Constrained NLP via Sequential Quadratic Programming
		5.2.3 Approximation of Hessian Matrix
	5.3 Discretization of the OCP via Shooting Methods
		5.3.1 Numerical Methods for Simulation
		5.3.2 Discretization of Actuated Values, Cost Function, and Constraints
		5.3.3 Discretization via Single Shooting
		5.3.4 Discretization via Multiple Shooting
		5.3.5 Real-Time NMPC
	References
6 Formulation of the Optimization Problem
	6.1 Soft Constraints
	6.2 Offset-Free Control
		6.2.1 Observer-Based Offset-Free Control
		6.2.2 Offset-Free Control Using a Deadbeat Observer
	6.3 Reference Tracking
		6.3.1 Delta Formulation
		6.3.2 Two-Layered Control Structure
	6.4 Stability Mechanisms
		6.4.1 Stability of the Infinite-Horizon MPC
		6.4.2 Stability of Finite-Horizon MPC
	References
Part II Introduction to Combustion Engine Control
7 SI and CI Engine Control Architectures
	7.1 Overview of Engine Control Tasks
	7.2 SI Engine Control Systems
		7.2.1 Air Path Controller
		7.2.2 Fuel Path Controller
		7.2.3 Ignition Path Controller
		7.2.4 Control Structure
	7.3 CI Engine Control
		7.3.1 Fuel Path Controller
		7.3.2 Air Path Controller
		7.3.3 Aftertreatment Path Controller
		7.3.4 Control Structure
	References
8 Low-Temperature Combustion Engine Control
	8.1 Introduction to LTC Engines
	8.2 Gasoline-Based LTC: Gasoline Controlled Autoignition
		8.2.1 Cycle-to-Cycle-Based Control Strategies
		8.2.2 Multi-scale Control Strategies
	8.3 Diesel-Based LTC: Premixed Charge Compression Ignition
	8.4 Dual-Fuel-Based LTC: Reactivity Controlled Compression Ignition
	References
Part III In-Depth Case Studies: Combustion Control
9 Fundamentals of Control-Oriented Air Path Modeling
	9.1 Introduction to Control-Oriented Air Path Modeling
		9.1.1 Requirements on Control-Oriented Air Path Models
		9.1.2 Continuous Differentiability
	9.2 Volume
	9.3 Engine
	9.4 Flow Restriction Model
		9.4.1 Incompressible Flow Restriction Model
		9.4.2 Compressible Flow Restriction Model
	9.5 Turbocharger
		9.5.1 Compressor
		9.5.2 Turbine
		9.5.3 Turbocharger Dynamics
	References
10 Combined Exhaust Gas Recirculation and VTG: Modeling and Analysis
	10.1 System Setup
	10.2 Control-Oriented Process Model
	10.3 Validation of the Process Model
	10.4 Analysis of the System Dynamics
		10.4.1 Nonlinearity
		10.4.2 Pole-Zero Locations
		10.4.3 Relative Gain Array
	References
11 Combined Exhaust Gas Recirculation and VTG: Control
	11.1 Nonlinear MPC Algorithm
		11.1.1 Controller-Internal Model
		11.1.2 Formulation of the Optimization Problem
		11.1.3 Parametrization of the Numerical Solver
		11.1.4 Parametrization of the Cost Function
	11.2 Model-Based Synthesis of PI Controllers
		11.2.1 Decentralized Synthesis of PI Controllers
		11.2.2 Decoupling Control Approach
		11.2.3 Anti-windup and Dead-Time
	11.3 Simulative Comparison of the Controllers
	11.4 Experimental Validation
	References
12 Two-Stage Turbocharging: Modeling and Analysis
	12.1 Introduction
	12.2 System Setup
		12.2.1 Sensors
		12.2.2 Actuators
		12.2.3 Engine Control Algorithm
	12.3 Nonlinear Process Model for Two-Stage Turbocharging
		12.3.1 Fundamental Equations of Two-Stage Turbocharging
		12.3.2 Overall State-Space Model
	12.4 Analysis of the System Dynamics
		12.4.1 Stationary System Behavior
		12.4.2 Transient System Behavior
	12.5 Validation of Reduced-Order Model
	References
13 Two-Stage Turbocharging: Control
	13.1 Nonlinear MPC Algorithm
		13.1.1 Controller-Internal Model
		13.1.2 Formulation of the Optimization Problem
		13.1.3 Numerical Solution of the Optimization Problem
	13.2 Validation of the NMPC Algorithm by Simulations
	13.3 Experimental In-Vehicle Validation of the NMPC Algorithm
	References
Part IV In-Depth Case Studies: Combustion
14 Fundamentals of CI Engine Combustion Control and Modeling
	14.1 Introduction to Combustion Control
	14.2 Control-Oriented Process Model
		14.2.1 Mass Balance
		14.2.2 Energy Balance
		14.2.3 Applications of the Single-Zone Model
		14.2.4 Combustion Chamber Volume
		14.2.5 Heat Transfer Through Combustion Chamber Walls
	14.3 Control of Cycle-Integral Combustion Parameters
	14.4 Combustion Rate Shaping
	References
15 Combustion Rate Shaping Control
	15.1 Introduction
	15.2 Combustion Modeling
		15.2.1 Overview on Combustion Modeling Approaches
		15.2.2 Data-Based Combustion Models
	15.3 Optimization-Based Fuel Injection Rate Digitalization
		15.3.1 Data-Based Fuel Injection Model
		15.3.2 Formulation of the Optimization Problem
		15.3.3 Validation of the Fuel Injection Rate Digitalization Concept
	References
Index