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Fast implementation of model predictive control with guaranteed performance

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4 Author(s)
Canale, M. ; Dipt. di Autom. e Inf., Politec. di Torino, Turin, Italy ; Cerone, V. ; Piga, D. ; Regruto, D.

A fast implementation of a given predictive controller for nonlinear systems is introduced through a piecewise constant approximate function defined over an hyper-cube partition of the system state space. Such a state partition is obtained by maximizing the hyper-cube volumes in order to guarantee, besides stability, an a priori fixed trajectory error as well as input and state constraints satisfaction. The presented approximation procedure is achieved by solving a set of nonconvex polynomial optimization problems, whose approximate solutions are computed by means of semidefinite relaxation techniques for semialgebraic problems.

Published in:

Decision and Control and European Control Conference (CDC-ECC), 2011 50th IEEE Conference on

Date of Conference:

12-15 Dec. 2011