Model Based Robust Predictive Control of Ship Roll/Yaw Motions with Input Constraints

Output Stable Model Predictive Control Design with Input Constraints

The paper addresses the problem to design a quadratic stable output/state feedback model predictive control for linear systems with input constraints. In the proposed design technique the model predictive control is designed for N2 step ahead prediction using the Lyapunov function approach with the cost function guaranteeing input constraints. Output gain matrix calculation is realized off line...

Input Constrained Robust Model Predictive Control with Enlarged Stabilizable Region

Abstract: The dual-mode strategy has been adopted in many constrained MPC (Model Predictive Control) methods. The size of stabilizable regions of states of MPC methods depends on the size of underlying feasible and positively invariant sets and the number of control moves. The results, however, may perhaps be conservative because the definition of positive invariance does not allow temporal dep...

Finite horizon robust model predictive control with terminal cost constraints

In this paper, we develop a finite horizon model predictive control algorithm which is robust to modelling uncertainties. A moving average system matrix is constructed to capture modelling uncertainties and facilitate the future output prediction. The paper is mainly focused on the step tracking problem. Using linear matrix inequality techniques, the design is converted into a semi-definite opt...

Fault-Tolerant Control of a Nonlinear Process with Input Constraints

A Fault-Tolerant Control (FTC) methodology has been presented for nonlinear processes being imposed by control input constraints. The proposed methodology uses a combination of Feedback Linearization and Model Predictive Control (FLMPC) schemes. The resulting constraints in the transformed process will be dependent on the actual evolving states, making their incorporation in the de...

Robust Control through Signal Constraints with Application to Predictive Control Robust Control through Signal Constraints with Application to Predictive Control