Logo eprints

On the stability and robustness of non-smooth nonlinear MPC

Lazar, Mircea and Heemels, W.P.M.H. and Bemporad, Alberto and Weiland, Siep On the stability and robustness of non-smooth nonlinear MPC. In: Assessment and Future Directions of Nonlinear Model Predictive Control, 26-30 August 2005, Freudenstadt-Lauterbad, Germany (Unpublished) (2005)

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 robust stability, while allowing for both the system dynamics and the value function of the MPC cost (the usual candidate Lyapunov function in MPC) 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 systems. As an application of the general theory, it is shown that Lyapunov stability is achieved in hybrid MPC. For a particular class of piecewise affine systems, a modified MPC set-up is proposed, which is proven to be robust to small additive disturbances via an input-to-state stability argument.

Item Type: Conference or Workshop Item (Paper)
Uncontrolled Keywords: Non-smooth systems; Hybrid systems; Model predictive control; Lyapunov stability; Robust stability
Subjects: Q Science > QA Mathematics
Q Science > QA Mathematics > QA75 Electronic computers. Computer science
T Technology > TJ Mechanical engineering and machinery
Research Area: Computer Science and Applications
Depositing User: Professor Alberto Bemporad
Date Deposited: 27 Jul 2011 08:47
Last Modified: 05 Aug 2011 13:51
URI: http://eprints.imtlucca.it/id/eprint/530

Actions (login required)

Edit Item Edit Item