Formal analysis of state estimation for nonlinear model predictive control
The main goal of this study is to carry out a closed-loop performance analysis of state estimation methods when implemented in the formulation of nonlinear model predictive control. The analysis is facilitated by two nonlinear optimal state estimation methods: augmented state EKF (ASEKF) and augment...
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| Format: | Dissertation |
| Language: | Eng |
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University of Cape Town
2016
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| Online Access: | http://hdl.handle.net/11427/20065 |