Stochastic Nonlinear Model Predictive Control with Efficient Sample Approximation of Chance Constraints

This paper presents a stochastic model predictive control approach for nonlinear systems subject to time-invariant probabilistic uncertainties in model parameters and initial conditions. The stochastic optimal control problem entails a cost function in terms of expected values and higher moments of the states, and chance constraints that ensure probabilistic constraint satisfaction. The generalized polynomial chaos framework is used to propagate the time-invariant stochastic uncertainties through the nonlinear system dynamics, and to efficiently sample from the probability densities of the states to approximate the satisfaction probability of the chance constraints. To increase computational efficiency by avoiding excessive sampling, a statistical analysis is proposed to systematically determine a-priori the least conservative constraint tightening required at a given sample size to guarantee a desired feasibility probability of the sample-approximated chance constraint optimization problem. In addition, a method is presented for sample-based approximation of the analytic gradients of the chance constraints, which increases the optimization efficiency significantly. The proposed stochastic nonlinear model predictive control approach is applicable to a broad class of nonlinear systems with the sufficient condition that each term is analytic with respect to the states, and separable with respect to the inputs, states and parameters. The closed-loop performance of the proposed approach is evaluated using the Williams-Otto reactor with seven states, and ten uncertain parameters and initial conditions. The results demonstrate the efficiency of the approach for real-time stochastic model predictive control and its capability to systematically account for probabilistic uncertainties in contrast to a nonlinear model predictive control approaches.Comment: Submitted to Journal of Process Contro

An extension to GUM methodology: degrees-of-freedom calculations for correlated multidimensional estimates

The Guide to the Expression of Uncertainty in Measurement advocates the use of an 'effective number of degrees of freedom' for the calculation of an interval of measurement uncertainty. However, it does not describe how this number is to be calculated when (i) the measurand is a vector quantity or (ii) when the errors in the estimates of the quantities defining the measurand (the 'input quantities') are not incurred independently. An appropriate analysis for a vector-valued measurand has been described (Metrologia 39 (2002) 361-9), and a method for a one-dimensional measurand with dependent errors has also been given (Metrologia 44 (2007) 340-9). This paper builds on those analyses to present a method for the situation where the problem is multidimensional and involves correlated errors. The result is an explicit general procedure that reduces to simpler procedures where appropriate. The example studied is from the field of radio-frequency metrology, where measured quantities are often complex-valued and can be regarded as vectors of two elements.Comment: 30 pages with 2 embedded figure