Parametric approximation of maximal output admissible sets and its application to multi-mode switching control under unknown constant Reference

This paper shows a procedure for approximately parameterizing maximal output admissible sets by ellipsoids, and then, theoretically proves that an union of the ellipsoids, which is no longer invariant, is continuously parametrized in terms of a reference. The parameterized set allows online judgment of whether the constraints are fulfilled when considering a tracking control of a constrained system under an unknown constant reference, which requires realtime computation of the output admissible sets. Therefore, the resulting consequence is so useful as to broaden a treatable control problem with conventional constrained control techniques, one of which is multi-mode switching control. Finally, a practical example presents its effectiveness and applicability.