Title :
On the robustness of receding-horizon control with terminal constraints
Author :
Nicolao, G. De ; Magni, L. ; Scattolini, R.
Author_Institution :
Dipartimento di Inf. e Sistemistica, Pavia Univ., Italy
fDate :
3/1/1996 12:00:00 AM
Abstract :
Robustness properties of nonlinear receding-horizon controllers with zero terminal state constraints are investigated with respect to gain and additive perturbations. Some robustness margins are derived by extending to the receding-horizon case the analysis originally proposed by Geromel and da Cruz for infinite-horizon controllers. In the linear case, it is shown that the zero terminal state receding-horizon controller exhibits worse robustness margins compared to standard infinite-horizon LQ control
Keywords :
closed loop systems; control system analysis; discrete time systems; nonlinear control systems; stability; additive perturbation; discrete time systems; gain perturbation; infinite-horizon linear quadratic control; nonlinear control systems; receding-horizon control; robustness; terminal state constraints; Additives; Constraint optimization; Control systems; Cost function; Design optimization; Nonlinear control systems; Nonlinear systems; Robust control; Robust stability; Uncertainty;
Journal_Title :
Automatic Control, IEEE Transactions on
