Towards a robust multi-level control approach for baggage handling systems

This paper revisits the routing problem in baggage handling systems. We propose a two-level control approach based on a model predictive controller at the top level and a constrained feedback controller at the bottom level that minimizes the L₂ gain of the closed-loop system. The model predictive control problem is recast as a linear programming problem and the constrained feedback controller design problem is formulated as minimization of a linear objective function subject to linear matrix inequalities. The effectiveness of the proposed method is illustrated by a case study.