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Invariant sets for feedback linearisation based nonlinear predictive control

Abstract:

This paper describes a method for calculating invariant/feasible sets with respect to feedback linearising control law for input-affine nonlinear systems. Polytope simplification and partial invariance/feasibility are used to reduce the conservativeness of the affine difference inclusion. The output optimality of a feedback linearising control law provides a good basis for using such invariant sets in dual mode prediction MPC settings. Finally, a feasibility study of the proposed method is ca...

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Publication status:
Published

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Publisher copy:
10.1049/i[-cta:20041312

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Institution:
University of Oxford
Department:
Oxford, MPLS, Engineering Science
Journal:
IEE PROCEEDINGS-CONTROL THEORY AND APPLICATIONS
Volume:
152
Issue:
3
Pages:
259-265
Publication date:
2005-05-05
DOI:
EISSN:
1359-7035
ISSN:
1350-2379
URN:
uuid:864c26a3-6c59-4b11-90ff-825fc7fa29b7
Source identifiers:
63244
Local pid:
pubs:63244
Language:
English

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