Logo eprints

Discrete-time non-smooth nonlinear MPC: Stability and robustness

Lazar, Mircea and Heemels, W.P.M.H. and Bemporad, Alberto and Weiland, Siep Discrete-time non-smooth nonlinear MPC: Stability and robustness. In: Assessment and Future Directions of Nonlinear Model Predictive Control. Springer-Verlag, pp. 93-103. ISBN 978-3-540-72698-2 (2007)

Full text not available from this repository.


This paper considers discrete-time nonlinear, possibly discontinuous, systems in closed-loop with model predictive controllers (MPC). The aim of the paper is to provide a priori sufficient conditions for asymptotic stability in the Lyapunov sense and input-to-state stability (ISS), while allowing for both the system dynamics and the value function of the MPC cost to be discontinuous functions of the state. The motivation for this work lies in the recent development of MPC for hybrid systems, which are inherently discontinuous and nonlinear. For a particular class of discontinuous piecewise affine systems, a new MPC set-up based on infinity norms is proposed, which is proven to be ISS to bounded additive disturbances. This ISS result does not require continuity of the system dynamics nor of the MPC value function.

Item Type: Book Section
Identification Number: 10.1007/978-3-540-72699-9_7
Subjects: Q Science > QA Mathematics
T Technology > TJ Mechanical engineering and machinery
Research Area: Computer Science and Applications
Depositing User: Professor Alberto Bemporad
Date Deposited: 27 Jul 2011 08:39
Last Modified: 05 Aug 2011 13:17
URI: http://eprints.imtlucca.it/id/eprint/516

Actions (login required)

Edit Item Edit Item