Bemporad, Alberto and Borrelli, Francesco and Morari, Manfred Piecewise linear robust model predictive control. In: European Control Conference. European Control Conference, Porto, Portugal, pp. 939-944. (2001)
Full text not available from this repository.Abstract
For discrete-time linear time-invariant systems with input disturbances and constraints on inputs and states, we develop an algorithm to determine explicitly, as a function of the initial state, the solution to robust optimal control problems based on min-max optimization. We show that the optimal control sequence is a piecewise linear function of the initial state. Thus, when the optimal control problem is solved at each time step according to a moving horizon scheme, the on-line computation of the resulting MPC controller is reduced to a simple linear function evaluation. In this paper the uncertainty is modeled as an additive norm-bounded input disturbance vector. The technique can be also extended to robust control of constrained systems affected by polyhedral parametric uncertainty.
| Item Type: | Book Section |
|---|---|
| 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 09:08 |
| Last Modified: | 17 Jul 2014 12:46 |
| URI: | http://eprints.imtlucca.it/id/eprint/578 |
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