eprintid: 578
rev_number: 11
eprint_status: archive
userid: 7
dir: disk0/00/00/05/78
datestamp: 2011-07-27 09:08:53
lastmod: 2014-07-17 12:46:08
status_changed: 2011-07-27 09:08:53
type: book_section
metadata_visibility: show
item_issues_count: 0
creators_name: Bemporad, Alberto
creators_name: Borrelli, Francesco
creators_name: Morari, Manfred
creators_id: alberto.bemporad@imtlucca.it
creators_id: 
creators_id: 
title: Piecewise linear robust model predictive control
ispublished: pub
subjects: QA
subjects: TJ
divisions: CSA
full_text_status: none
abstract: 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.
date: 2001
publication: Proc. European Control Conf.
publisher: European Control Conference
place_of_pub: Porto, Portugal
pagerange: 939-944
refereed: TRUE
book_title: European Control Conference
related_url_url: http://control.ee.ethz.ch/index.cgi?page=publications;action=details;id=857
citation:   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)