‫Welcome back.
‫Now that you are familiar with the general control structure that we are using for controlling the Web,
‫it is time to zoom into the NPC controller and we are going to see how it finds the control inputs you
‫to U3 and EUFOR.
‫Remember that in NPC you had a cost function.
‫And the whole point of NBC, in fact, was to minimize that cost function.
‫The whole point of NBC was to find the right you to Q3 and Q4 control inputs so that you could minimize
‫the errors between your system and the reference values while also keeping the change of your control
‫inputs as small as possible.
‫I want my errors to go to zero, but at the same time, I don't want my you to use three and you four
‫go like crazy.
‫You know, I don't want them to change like crazy.
‫And that is why in the cost function, one of the variables where errors.
‫And the other types of variables in the cost function, where the changes of my control inputs the Delta,
‫you to the Delta U3 and Delta EUFOR, and then I got my real control inputs by taking the previous control
‫inputs and then adding the changes of the control inputs that the NPC had previously found for me.
‫So that was the general idea of the NPC.
‫Now, from the previous section, you know that the NPC control gets its Fi, R and FITA are from the
‫feedback penalization controller and then CI R comes from the planner and then the NPC will give you
‫you two U3 and then you for end if you remember then the feedback loop mineralisation controller gave
‫you one directly and sent it directly to the plant.
‫However, since in this section we only focus on the NPC controller, then we don't care where the reference
‫values come from.
‫So in this section, we simply assume that the NPC controller gets its reference values from one source.
‫But in the back of your mind, you know that player comes from the planner directly.
‫The application of the NPC controller to the oveI will be quite similar to the steps that were taken
‫when we applied it to the autonomous vehicle in order to laterally control it.
‫Nevertheless, there will be some important differences as well, and we will consider them in great
‫detail.
‫So let's get started.