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Receding horizon H predictive control for systems with input saturation

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2 Author(s)
Lee, Y.I. ; Dept. of Control & Instrum., Gyeongsang Nat. Univ., South Korea ; Kouvaritakis, B.

A receding horizon H predictive control method is derived by solving a min-max problem in nonrecursive form. The min-max cost index is converted to a quadratic form which, for systems with input saturation, can be minimised using quadratic programming (QP). Stability conditions and H norm bounds on disturbance rejection are obtained. Without input saturation, stabilising terminal weights guaranteeing finite H norm bounds always exist, but the guaranteed H norm bound may be conservative; this is remedied through the use of closed-loop prediction. Feasible sets for state and disturbances are derived, for which stability can be guaranteed. The algorithm and weight selection procedures are given in terms of LMI

Published in:

Control Theory and Applications, IEE Proceedings -  (Volume:147 ,  Issue: 2 )