Návrh a realizace algoritmů nelineárního prediktivního řízení fyzikálního modelu tří nádrží

Abstract

This diploma thesis deals with nonlinear predictive control. The goal of the work was to design and implement algorithms of nonlinear predictive control for the three-tank physics model, where the algorithms will be verified. In the first part of thesis are described used methods and described control platform, which was used for realization of physics model. The design of the nonlinear predictive control algorithm was performed on the basis of a mathematical model of a system of three tanks, where the simulation was first designed and then the realization was performed for the physics model. The simulation was created in Matlab/Simulink, which allows to verify the correctness of the solution before the implementation into the physics model. For realization algorithm for the physics model was used the Matlab environment, which is communicating with Rexduino platform, controlled by REXYGEN controll system, via Rest API communication interface. For simulation and realized physics model of three tanks was created visualization in integrated environment of control system REXYGEN