Journal article

Optimizing prediction dynamics for robust MPC

Abstract:

A convex formulation is derived for optimizing dynamic feedback laws for constrained linear systems with polytopic uncertainty. We show that, when it exists, the maximal invariant ellipsoidal set for the plant state under a dynamic feedback law incorporating any chosen static feedback gain is equal to the maximal invariant ellipsoidal set under any linear feedback law. The dynamic controller and its associated invariant set define a computationally efficient robust model predictive control (M...

Publication status:
Published

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Publisher copy:
10.1109/TAC.2005.858679

Authors

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Institution:
University of Oxford
Division:
MPLS
Department:
Engineering Science
Role:
Author
Journal:
IEEE TRANSACTIONS ON AUTOMATIC CONTROL
Volume:
50
Issue:
11
Pages:
1892-1897
Publication date:
2005-11-01
DOI:
ISSN:
0018-9286
Language:
English
Keywords:
Pubs id:
pubs:63346
UUID:
Local pid:
pubs:63346
Source identifiers:
63346
Deposit date:
2012-12-19