Rules of Change of Weight Matrix in objective Function in Model Predictive Control in order to Consider Stability for Twin Rotor MIMOSystemBasedonBellman’s Dynamic Programming Method

Abstract

 A paper [1] indicated that the survey results apply
 Model Predictive Control for the TRMS based on
 Bellman’s dynamic programming method in order to
 consider the stability with the predictive horizon goes
 to infinity. The results of [1] has just proved the
 stability of system but they did not satisfy constraint
 conditions of state parameters. In this article, author
 provide rules of change of weight matrix in objective
 function in order to satisfy constraint conditions of the
 inputs, the outputs and the state parameters of this
 system. All of the state parameters reach to zero and
 satisfied withparameters rorizon (NP) goes to
 infinity proved a reasonable rule with simulation results