Robust model predictive control of constrained linear systems with bounded disturbances

Robust output feedback model predictive control of constrained linear systems

This paper provides a solution to the problem of robust output feedback model predictive control of constrained, linear, discrete-time systems in the presence of bounded state and output disturbances. The proposed output feedback controller consists of a simple, stable Luenberger state estimator and a recently developed, robustly stabilizing, tube-based, model predictive controller. The state e...

Feasible Model Predictive Control with Bounded Disturbances

This paper shows how to calculate feasible regions, parameterized in terms for the present state xk, for MPC controllers for constrained linear systems. The dependence of the feasible region on the prediction horizon is also made clear. It is also shown how the procedure may be modified to find guaranteed feasible regions in the presence of unknown, bounded disturbances. These ’robust’ feasible...

Robust Control of Constrained Sector Bounded Lur’e Systems with Applications to Nonlinear Model Predictive Control

We consider the problem of controlling continuous-time sector bounded Lur’e systems subject to state and input constraints. First, we derive a linear static feedback law which stabilizes Lur’e systems with uncertain nonlinearities. The approach is then used to calculate the terminal region and the terminal penalty term for quasi-infinite horizon nonlinear model predictive control (NMPC). The re...

Distributed model predictive control of linear systems with persistent disturbances

Robust Model Predictive Control for Piecewise Affine Systems Subject to Bounded Disturbances

This paper investigates the robust tracking and regulation control problems for discrete-time, piecewise affine systems subject to bounded disturbances. In particular, the main question addressed is related to the existence of a controller such that the closed-loop system exhibits an attainable desired behavior under all possible disturbances. Checking attainability and calculating the state sp...