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Article
Peer-Review Record

Experimental Validation of a Guaranteed Nonlinear Model Predictive Control

Algorithms 2021, 14(8), 248; https://doi.org/10.3390/a14080248
by Mohamed Fnadi 1,* and Julien Alexandre dit Sandretto 2
Reviewer 1: Anonymous
Reviewer 2: Anonymous
Algorithms 2021, 14(8), 248; https://doi.org/10.3390/a14080248
Submission received: 27 July 2021 / Revised: 16 August 2021 / Accepted: 19 August 2021 / Published: 20 August 2021
(This article belongs to the Special Issue Algorithms for Reliable Estimation, Identification and Control II)

Round 1

Reviewer 1 Report

The paper proposes an experimental validation of a guaranteed nonlinear model predictive controller.
The paper is interesting and we understand that in the context of nonlinear control, it is important to guarantee some properties.
The paper proposes some algorithms but I did not understand which properties of the controlled systems are guaranteed. 
Moreover, the method proposes to use an interval integrator for an ODE whereas differential inclusions should be considered instead.
I have inserted some comments on the pdf file that should be taken into account in the new version of the paper.

Comments for author File: Comments.pdf

Author Response

Dear Editor and Reviewers,

We are very grateful to you and the reviewers for the valuable suggestions. We highly appreciate the reviewers’ insightful and helpful comments on our manuscript.  We revised our paper and added all the proposed issues and missed points to the new version of our manuscript (written in blue).

Kind regards.
Mohamed and Julien

Author Response File: Author Response.pdf

Reviewer 2 Report

The proposed paper deals with the problem of combining the interval analysis tools with the nonlinear model predictive control.

The paper is well organized and the authors present interesting results that confirm the good performance of the proposed control approach.

Meanwhile, I have some comments to contribute to improve the paper:

 

1) Section 1 - Introduction: The authors mention the robotics domain to introduce the problem, but I think the MPC strategy has larger applications, not only in robotics this control approach presents challenges.

2) The bibliographic review does not include enough recent articles. It could be more comprehensive and up-to-date.

3) Section 3 should present in more details the mathematical development, as it is the heart of the article.

4) The title of subsection 3.2 is identical to the title of the section 3. They could be different to better describe the contents.

5) The author could present comparative performance of their proposed approach and precedent solutions for the same experimental platform, given by precedent studies in the research group. This improvement would greatly enrich the article and allow for a deeper insight into the advantages of the proposed solution.

 

Author Response

Dear Editor and Reviewers,

We are very grateful to you and the reviewers for the valuable suggestions. We highly appreciate the reviewers’ insightful and helpful comments on our manuscript.  We revised our paper and added all the proposed issues and missed points to the new version of our manuscript (written in blue).

Kind regards.
Mohamed and Julien

Author Response File: Author Response.pdf

Round 2

Reviewer 1 Report

Thank you for the clarifications.

The paper can now be accepted.

Reviewer 2 Report

The authors improved the text following my comments abour the previous version.

In my opinion, the paper can be accepted in the present version.

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