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‫Welcome back.

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‫Now that you are familiar with the general control structure that we are using for controlling the Web,

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‫it is time to zoom into the NPC controller and we are going to see how it finds the control inputs you

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‫to U3 and EUFOR.

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‫Remember that in NPC you had a cost function.

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‫And the whole point of NBC, in fact, was to minimize that cost function.

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‫The whole point of NBC was to find the right you to Q3 and Q4 control inputs so that you could minimize

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‫the errors between your system and the reference values while also keeping the change of your control

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‫inputs as small as possible.

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‫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

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‫go like crazy.

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‫You know, I don't want them to change like crazy.

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‫And that is why in the cost function, one of the variables where errors.

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‫And the other types of variables in the cost function, where the changes of my control inputs the Delta,

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‫you to the Delta U3 and Delta EUFOR, and then I got my real control inputs by taking the previous control

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‫inputs and then adding the changes of the control inputs that the NPC had previously found for me.

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‫So that was the general idea of the NPC.

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‫Now, from the previous section, you know that the NPC control gets its Fi, R and FITA are from the

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‫feedback penalization controller and then CI R comes from the planner and then the NPC will give you

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‫you two U3 and then you for end if you remember then the feedback loop mineralisation controller gave

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‫you one directly and sent it directly to the plant.

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‫However, since in this section we only focus on the NPC controller, then we don't care where the reference

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‫values come from.

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‫So in this section, we simply assume that the NPC controller gets its reference values from one source.

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‫But in the back of your mind, you know that player comes from the planner directly.

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‫The application of the NPC controller to the oveI will be quite similar to the steps that were taken

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‫when we applied it to the autonomous vehicle in order to laterally control it.

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‫Nevertheless, there will be some important differences as well, and we will consider them in great

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‫detail.

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‫So let's get started.