Predictive Control of Cyber-Physical Systems

[EN] Predictive control encompasses a family of controllers that continually replan the system inputs during a certain time horizon to optimize their expected evolution according to a given criterion. This methodology has among its current challenges the adaptation to the paradigm of the so-called cyber-physical systems, which are composed of computers, sensors, actuators and physical entities of various kinds, including robots and even human beings who exchange information to control physical processes. This tutorial introduces the core concepts for the application of predictive control to cyber-physical systems by reviewing a series of examples that exploit the versatility of this design framework so as to solve the challenges presented by 21st century applications.[ES] El control predictivo engloba a una familia de controladores que replanifican continuamente las entradas del sistema durante un cierto horizonte temporal con el fin de optimizar su evolución esperada conforme a un criterio dado. Esta metodología tiene entre sus retos actuales la adaptación al paradigma de los llamados sistemas ciberfísicos, que están compuestos por computadoras, sensores, actuadores y entidades físicas de diversa índole entre las que se incluyen robots e incluso seres humanos que intercambian información con el objetivo de controlar procesos físicos. Este tutorial presenta los conceptos centrales de la integración del control predictivo en este tipo de sistemas mediante el repaso a una serie de ejemplos que explotan la versatilidad de este marco de diseño de controladores para resolver los desafíos que presentan las aplicaciones del siglo XXI.Este trabajo ha sido financiado por el European Research Council (ERC) en el marco del programa de investigación e innovación Horizonte 2020 de la Unión Europea [OCONTSOLAR, ref. 789051], por el Ministerio de Economía con el proyecto C3PO [ref. DPI2017-86918-R], por el Ministerio de Ciencia, Innovación y Universidades en el marco del programa de Formación de Profesorado Universitario (FPU) [FPU17/02653 y FPU18/04476] y por la Consejería Transformación Económica, Industria, Conocimiento y Universidades en el marco del programa de Ayudas a los agentes públicos del Sistema Andaluz del Conocimiento, para la realización de proyectos de I+D+i (PAIDI 2020) [Ampliación Aquacollect, ref. 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