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Reducing conservativeness in predictive control of constrained systems with disturbances

Bemporad, Alberto Reducing conservativeness in predictive control of constrained systems with disturbances. In: Decision and Control Conference. IEEE, Tampa, Florida, December 1998, pp. 1384-1391. ISBN 0-7803-4394-8 (1998)

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Predictive controllers which are able to guarantee constraint fulfilment in the presence of input disturbances, typically based on min-max formulations, often suffer excessive conservativeness. One of the main reasons for this is that the control action is based on the open-loop prediction of the evolution of the system, because the uncertainty due to the disturbance grows as time proceeds on the prediction horizon. On the other hand, such an effect can be moderated by adopting a closed-loop prediction. In this paper, closed-loop prediction is achieved by including a free feedback matrix gain in the set of optimization variables. This allows one to balance computational burden and reduction of conservativeness

Item Type: Book Section
Identification Number: 10.1109/CDC.1998.758479
Uncontrolled Keywords: asymptotic stability; closed loop systems; feedback; linear systems; minimax techniques; predictive control
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 09:19
Last Modified: 16 Jul 2014 14:14
URI: http://eprints.imtlucca.it/id/eprint/605

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