TY  - CHAP
A1  - Bemporad, Alberto
A1  - Borrelli, Francesco
A1  - Morari, Manfred
PB  - European Control Conference
N2  - 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.
SP  - 939
AV  - none
CY  - Porto, Portugal
TI  - Piecewise linear robust model predictive control
Y1  - 2001///
UR  - http://eprints.imtlucca.it/578/
ID  - eprints578
EP  - 944
T2  - European Control Conference
ER  -