Optimizing prediction dynamics for robust MPC

Journal article

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 MPC law with prediction dynamics belonging to a polytopic uncertainty set. Copyright © 2005 IFAC.

Journal:: IFAC Proceedings Volumes (IFAC-PapersOnline) More from this journal
Volume:: 16
Pages:: 239-244
Publication date:: 2005-01-01
ISSN:: 1474-6670

Language:: English
Keywords:: Linear matrix inequalities

Predictive control

Constraints

Dynamic feedback
Pubs id:: pubs:396869
UUID:: uuid:84fe00b0-98ef-4761-9614-ce273e8e03ab
Local pid:: pubs:396869
Source identifiers:: 396869
Deposit date:: 2013-11-17
ARK identifier:: ark:/29072/ora_84fe00b098ef47619614ce273e8e03ab

Licence:: Terms and Conditions of Use for Oxford University Research Archive

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