relation: http://eprints.imtlucca.it/578/
title: Piecewise linear robust model predictive control
creator: Bemporad, Alberto
creator: Borrelli, Francesco
creator: Morari, Manfred
subject: QA Mathematics
subject: TJ Mechanical engineering and machinery
description: 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.
publisher: European Control Conference
date: 2001
type: Book Section
type: PeerReviewed
identifier:   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)