eprintid: 530
rev_number: 14
eprint_status: archive
userid: 7
dir: disk0/00/00/05/30
datestamp: 2011-07-27 08:47:22
lastmod: 2011-08-05 13:51:39
status_changed: 2011-07-27 08:47:22
type: conference_item
metadata_visibility: show
contact_email: alberto.bemporad@imtlucca.it
item_issues_count: 0
creators_name: Lazar, Mircea
creators_name: Heemels, W.P.M.H.
creators_name: Bemporad, Alberto
creators_name: Weiland, Siep
creators_id: 
creators_id: 
creators_id: alberto.bemporad@imtlucca.it
creators_id: 
title: On the stability and robustness of non-smooth nonlinear MPC
ispublished: unpub
subjects: QA
subjects: QA75
subjects: TJ
divisions: CSA
full_text_status: none
pres_type: paper
keywords: Non-smooth systems; Hybrid systems; Model predictive control; Lyapunov stability; Robust stability
abstract: 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.
date: 2005
publication: Proc. Int. Workshop on Assessment and Future Directions of NMPC
event_title: Assessment and Future Directions of Nonlinear Model Predictive Control
event_location: Freudenstadt-Lauterbad, Germany
event_dates: 26-30 August 2005
event_type: workshop
refereed: TRUE
book_title: Proc. Int. Workshop on Assessment and Future Directions of NMPC
citation:   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and Future Directions of Nonlinear Model Predictive Control, 26-30 August 2005, Freudenstadt-Lauterbad, Germany       (Unpublished)   (2005)