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State decomposition and the enlargement of stabilizable regions

Abstract:

Ellipsoidal sets form a popular choice for terminal invariant feasible sets in MPC. Requiring however terminal states to lie within such ellipsoidal sets leads to a quadratic condition which increases online computation. Low complexity polytopes offer a convenient remedy and allow for robust MPC that require the online solution of a Linear Program. The benefit is both in terms of reduced computation and size of stabilizable sets. Here we show how state decomposition can be deployed in order t...

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Publisher copy:
10.1109/SICE.2006.315746
Journal:
2006 SICE-ICASE International Joint Conference More from this journal
Pages:
1041-1046
Publication date:
2006-01-01
DOI:
Language:
English
Keywords:
Pubs id:
pubs:400539
UUID:
uuid:6db26a12-dfb1-41cc-a816-115b9bc40bc6
Local pid:
pubs:400539
Source identifiers:
400539
Deposit date:
2013-11-17

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