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Lyapunov-based model predictive control of nonlinear systems subject to time-varying measurement delays

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4 Author(s)
Jinfeng Liu ; Dept. of Chem. & Biomol. Eng., Univ. of California, Los Angeles, CA, USA ; Munoz de la Pena, D. ; Christofides, P.D. ; Davis, J.F.

In this work, we focus on model predictive control of nonlinear systems subject to time-varying measurement delays. The motivation for studying this control problem is provided by networked control problems and the presence of time-varying delays in measurement sampling in chemical processes. We propose a Lyapunov-based model predictive controller which is designed taking time-varying measurement delays explicitly into account, both in the optimization problem formulation and in the controller implementation. The proposed predictive controller guarantees that the closed-loop system is ultimately bounded in a region that contains the origin if the maximum delay is smaller than a given constant. The theoretical results are illustrated through a chemical process example.

Published in:

Decision and Control, 2008. CDC 2008. 47th IEEE Conference on

Date of Conference:

9-11 Dec. 2008

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