An LMI based model predictive control scheme with guaranteed H∞ performance and its application to active suspension

In the framework of LMI optimization, we present a robust MPC scheme that is guaranteed to achieve closed-loop H∞ performance for linear systems with control and output constraints. The main ingredient is the introduction of a dissipation constraint combined with on-line minimizing the H∞ performance level. Simulation results for a realistic active vehicle suspension show that the proposed scheme has the capability of automatically relaxing the performance level in order to obey hard time-domain constraints, while enhancing it when sufficient ’reserves’ in the dissipation constraint have been accumulated so as to improve performance.