A tool to analyze robust stability for constrained nonlinear MPC

Robust MPC of constrained nonlinear systems based on interval arithmetic

A robust MPC for constrained discrete-time nonlinear systems with additive uncertainties is presented. The proposed controller is based on the concept of reachable sets, that is, the sets that contain the predicted evolution of the uncertain system for all possible uncertainties. If processes are nonlinear these sets are very difficult to compute. A conservative approximation based on interval ...

Robust constrained MPC stabilization of a CSTR

The paper addresses a case study of robust stabilization of a continuous stirred tank reactor using robust model-based predictive control with constrained input variables. One exothermic reaction runs in the reaction mixture and the reactor is modelled in the form of an uncertain polytopic system. The control approach is based on solution of a set of linear matrix inequalities. This formulation...

Is suboptimal nonlinear MPC inherently robust?

We study the inherent robust stability properties of nonlinear discrete-time systems controlled by suboptimal model predictive control (MPC). The unique requirement to suboptimal MPC is that it does not increase the cost function with respect to a well-defined warm start, and it is therefore implementable in general nonconvex problems for which no suboptimality margins can be enforced. Because ...

Graph Mining Based SOM: A Tool to Analyze Economic Stability

Robust stability of min-max MPC controllers for nonlinear systems with bounded uncertainties

The closed loop formulation of the robust MPC has been shown to be a control technique capable of robustly stabilize uncertain nonlinear systems subject to constraints. Robust asymptotic stability of these controllers has been proved when the uncertainties are decaying. In this paper we extend the existing results to the case of uncertainties that decay with the state but do not tend to zero. T...