IQC analysis of linear constrained MPC
نویسندگان
چکیده
It is well-known that linear constrained model predictive control has a nonlinearity that is continuous and piecewise affine. Under certain feasibility conditions the nonlinearity may be sector bounded and shown to satisfy sufficient conditions for the existence of Zames-Falb multipliers. Thus the nonlinearity satisfies a wide class of integral quadratic constraint (IQC). Standard analysis then allows a closedloop robust stability test for infinity-norm bounded model uncertainty. We illustrate the results for output feedback MPC with integral action.
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