Robust constrained model predictive control using linear matrix inequalities

Robust constrained model predictive control using linear matrix inequalities,

The primary disadvantage of current design techriiques for xriodel predictive control (MPC) is their inability to deal explicitly with plant model uncertainty. In this paper, we present a new approacli for robust MPC synthesis which allows explicit irlcorporation of the description of pla,nt uricertainty in the problem formulation. The uncertainty is expressed both in the time domain and the fr...

Robust Constrained Model Predictive Control by Linear Matrix Inequalities

Finite Horizon Robust Model Predictive Control Using Linear Matrix Inequalities

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

A Computationally Efficient Formulation of Robust Model Predictive Control using Linear Matrix Inequalities

In this paper, we present an off-line approach for robust constrained MPC synthesis that gives an explicit control law using Linear Matrix Inequalities (LMIs). This off-line approach can address a broad class of model uncertainty descriptions with guaranteed robust stability of the closed-loop system and substantial reduction of the on-line MPC computation.

Robust output feedback model predictive control using off-line linear matrix inequalities

A fundamental question about model predictive control (MPC) is its robustness to model uncertainty. In this paper, we present a robust constrained output feedback MPC algorithm that can stabilize plants with both polytopic uncertainty and norm-bound uncertainty. The design procedure involves off-line design of a robust constrained state feedback MPC law and a state estimator using linear matrix...