Two level model predictive control for the maximum control invariant set

This work presents an extension of the two-level model predictive control (MPC) scheme presented. The procedure allows for computationally efficient MPC over a subset of the controllable state-space. The first controller level provides a stability guarantee and the second level optimizes performance. This two-level control scheme allows a transparent tradeoff between the necessary on-line computation power and performance. However, the scheme also suffers from two drawbacks. The two-level controller does not cover all controllable states and in order to guarantee constraint satisfaction in closed-loop, it is necessary to resort to open-loop control for certain initial states. These issues are dealt with in this paper. We extend the procedure such that the controller covers the infinite time controllable set K/sub /spl infin//(/spl chi//sub I/) with closed-loop stability and feasibility guarantee. The set K/sub /spl infin//(/spl chi//sub I/) denotes all states which may be driven to the set /spl chi//sub I/ by an admissible control law.