An LMI framework to design robust MPC for a class of nonlinear uncertain systems

Author

Ghaffari, Valiollah ; Naghavi, S. Vahid ; Safavi, Ali Akbar ; Shafiee, Masoud

Author_Institution

Shiraz Univ., Shiraz, Iran

fYear

2013

fDate

23-26 June 2013

Firstpage

1

Lastpage

5

Abstract

This paper presents a linear matrix inequality (LMI) framework to design robust model predictive control (MPC) for a class of continuous-time nonlinear uncertain systems. The controller design is formulated as an optimization problem of the “worst-case” objective function over an infinite moving horizon. A sufficient state feedback synthesis condition is provided in the form of LMI optimization and is solved online at each time step. A simulation example is showed the effectiveness of the proposed method.

Keywords

continuous time systems; control system synthesis; linear matrix inequalities; nonlinear control systems; optimisation; predictive control; robust control; state feedback; uncertain systems; LMI framework; LMI optimization; continuous-time nonlinear uncertain systems; infinite moving horizon; linear matrix inequality framework; robust MPC design; robust model predictive control design; state feedback synthesis condition; worst-case objective function; Optimization; Predictive control; Robustness; State feedback; Uncertain systems; Uncertainty; LMI; Robust Model predictive control; uncertain nonlinear systems;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Conference (ASCC), 2013 9th Asian

Conference_Location

Istanbul

Print_ISBN

978-1-4673-5767-8

Type

conf

DOI

10.1109/ASCC.2013.6606169

Filename

6606169