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Enlargement of polytopic terminal region in NMPC by interpolation and partial invariance

Abstract:

This paper uses the concept of partial invariance to derive a sequence of linear programs in order to maximize offline the volume of an invariant polytopic set with an arbitrary predefined number of vertices subject to a bound on closed-loop performance. Interpolation techniques are used to determine a nonlinear control law which is optimal with respect to a closed-loop cost bound through the on-line solution of a linear program. The invariant polytope is also used to define a receding horizo...

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Publication status:
Published

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Institution:
University of Oxford
Division:
MPLS
Department:
Engineering Science
Role:
Author
Journal:
AUTOMATICA
Volume:
40
Issue:
2
Pages:
311-317
Publication date:
2004-02-01
DOI:
ISSN:
0005-1098
Source identifiers:
63179
Language:
English
Keywords:
Pubs id:
pubs:63179
UUID:
uuid:8f35ef73-c1d1-4953-8b23-72326bbb0681
Local pid:
pubs:63179
Deposit date:
2012-12-19

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