A computationally efficient Model-Predictive Control (MPC) approach is proposed for systems with unknown delay using only input/output data. We use the Koopman operator framework and the related Hankel Alternative View of Koopman (HAVOK) algorithm to identify a model in a basis of projected time-delay coordinates and demonstrate a novel MPC structure that reduces and bounds the computational complexity. The proposed HAVOK-MPC approach is validated experimentally on a laboratory-scale District Heating System (DHS), demonstrating excellent prediction and tracking performance while only requiring knowledge of a conservative upper bound on the system delay.
@article{arxiv.2211.00134,
title = {HAVOK Model Predictive Control for Time-Delay Systems with Applications to District Heating},
author = {Christian M. Jensen and Mathias C. Frederiksen and Carsten S. Kallesøe and Jeppe N. Jensen and Laurits H. Andersen and Roozbeh Izadi-Zamanabadi},
journal= {arXiv preprint arXiv:2211.00134},
year = {2024}
}
Comments
This work has been accepted for publication at IFAC World Congress 2023