Reference
I. Necoara, B. De Schutter,
T. J. J. van den Boom, and J.
Hellendoorn, "Robustly stabilizing MPC for perturbed PWL systems: Extended
report," Tech. report 05-004a, Delft Center for Systems and Control, Delft
University of Technology, Delft, The Netherlands, 6 pp., Feb. 2005. A short
version of this paper has been published in the
Proceedings of
the 44th IEEE Conference on Decision and Control, and the European Control
Conference 2005 (CDC-ECC'05), Seville, Spain, pp. 3759-3764, Dec. 2005.
Abstract
In this paper we derive two robustly stable model predictive control (MPC)
schemes for the class of piecewise linear (PWL) and hybrid systems. We assume
that the plant model is subject to unknown but bounded disturbances and the
states of the system can be measured or estimated. We derive a piecewise
feedback controller based on linear matrix inequalities (LMI) that stabilizes
the nominal system. Further we develop an algorithm for constructing a convex
robustly positively invariant (RPI) set for the system. Using this convex RPI
set as a terminal set we propose first a min-max feedback MPC scheme with known
mode based on a dual-mode approach that stabilizes the system. The second
robustly stable MPC scheme is based on a semi-feedback controller, but this
time the mode of the system is unknown. Extension of the results from this
paper to hybrid systems is also discussed.
Downloads
Original paper
- I. Necoara, B. De Schutter, T. J. J. van den Boom, and J. Hellendoorn, "Robustly stabilizing MPC for perturbed PWL systems," Proceedings of the 44th IEEE Conference on Decision and Control, and the European Control Conference 2005 (CDC-ECC'05), Seville, Spain, pp. 3759-3764, Dec. 2005. (abstract, bibtex, tech. report (pdf))
BibTeX
@techreport{NecDeS:05-004a,
author = {Necoara, Ion and De Schutter, Bart and van den Boom, Ton J.
J. and Hellendoorn, Johannes},
title = {Robustly Stabilizing {MPC} for Perturbed {PWL} Systems:
Extended Report},
number = {05-004a},
institution = {Delft Center for Systems and Control, Delft University of
Technology},
address = {Delft, The Netherlands},
month = feb,
year = {2005},
note = {A short version of this paper has been published in the
\emph{Proceedings of the 44th IEEE Conference on Decision and
Control, and the European Control Conference 2005
(CDC-ECC'05)}, Seville, Spain, pp.\ 3759--3764, Dec.\ 2005}
}