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Robust predictive control using tight sets of predicted states

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2 Author(s)
Schuurmans, J. ; Dept. of Electr. Eng., Twente Univ., Enschede, Netherlands ; Rossiter, J.A.

A predictive controller for constrained linear time-varying systems with polytopic uncertainty is presented. The algorithm minimises an upper bound on the predicted quadratic cost function with respect to the first few future control moves and a feedback gain that completes the description of the predicted input trajectory. The optimisation problem is shown to be a convex problem which can be formulated as a linear-matrix-inequality (LMI) problem. Constraints are handled by posing necessary and sufficient conditions on the first few future control moves and a sufficient condition on the moves thereafter; these conditions are formulated in terms of additional LMIs. The algorithm is shown to be asymptotically stable. An example illustrates the efficiency of the method

Published in:

Control Theory and Applications, IEE Proceedings -  (Volume:147 ,  Issue: 1 )

Date of Publication:

Jan 2000

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