%V 34
%I Elsevier
%P 1255-1260
%T A predictive controller with artificial Lyapunov function for linear systems with input/state constraints
%N 10
%R 10.1016/S0005-1098(98)00066-1
%J Automatica
%X This paper copes with the problem of satisfying input and/or state hard constraints in set-point tracking problems. Stability is guaranteed by synthesizing a Lyapunov quadratic function for the system, and by imposing that the terminal state lies within a level set of the function. Procedures to maximize the volume of such an ellipsoidal set are provided, and interiorpoint methods to solve on-line optimization are considered.
%L eprints467
%D 1998
%A Alberto Bemporad
%K Predictive control; constraints; Lyapunov function; set-point control; optimization problems; interior-point methods; quadratically constrained quadratic programming