Input-to-state Stability of Constrained Approximate Explicit Model Predictive Control with Uncertainty
نویسندگان
چکیده
This paper presents an approximate multi-parametric quadratic programming approach to explicit solution of constrained linear MPC problems in the presence of bounded additive uncertainties, which is based on an orthogonal search tree structure of the state space partition. The explicit MPC controller minimizes the nominal value of the performance index and it is robust in the sense that all constraints are satisfied for all possible uncertainty realizations within the specified range. Conditions for input-to-state stability of the closed loop system with additive uncertainties are derived. Copyright © 2006 IFAC
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