Logo eprints

Stability and invariance analysis of approximate explicit MPC based on PWA Lyapunov functions

Rubagotti, Matteo and Trimboli, Sergio and Bernardini, Daniele and Bemporad, Alberto Stability and invariance analysis of approximate explicit MPC based on PWA Lyapunov functions. In: Proceedings of the 18th IFAC World Congress. IFAC. ISBN 978-3-902661-93-7 (2011)

Full text not available from this repository.
Related URLs


For piecewise affine (PWA) systems whose dynamics are only defined in a bounded and possibly non-invariant set X, this paper proposes a numerical approach to analyze the stability of the origin and to find a region of attraction. The approach relies on introducing fake dynamics outside X and on synthesizing a piecewise affine and possibly discontinuous Lyapunov function on a larger bounded set containing X by solving a linear program. The existence of a solution proves that the origin is an asymptotically stable equilibrium of the original PWA system and determines a region of attraction contained in X. The procedure is particularly useful in practical applications for analyzing a posteriori the stability properties of approximate explicit model predictive control laws defined over a bounded set X of states, and to determine whether, for a given set of initial states, the closed-loop system evolves within the domain X where the control law is defined.

Item Type: Book Section
Identification Number: 10.3182/20110828-6-IT-1002.00539
Uncontrolled Keywords: Hybrid systems stability
Subjects: Q Science > QA Mathematics
T Technology > TJ Mechanical engineering and machinery
Research Area: Computer Science and Applications
Depositing User: Users 37 not found.
Date Deposited: 29 Jul 2011 10:52
Last Modified: 30 Sep 2013 12:29
URI: http://eprints.imtlucca.it/id/eprint/740

Actions (login required)

Edit Item Edit Item