Title :
Invariant sets for constrained nonlinear discrete-time systems with application to feasibility in model predictive control
Author :
Kerrigan, Eric C. ; Maciejowski, Jan M.
Author_Institution :
Dept. of Eng., Cambridge Univ., UK
Abstract :
An understanding of invariant set theory is essential in the design of controllers for constrained systems, since state and control constraints can be satisfied if and only if the initial state belongs to a positively invariant set for the closed-loop system. The paper briefly reviews some concepts in invariant set theory and shows that the various sets can be computed using a single recursive algorithm. The ideas presented in the first part of the paper are applied to the fundamental design goal of guaranteeing feasibility in predictive control. New necessary and sufficient conditions based on the control horizon, prediction horizon and terminal constraint set are given in order to guarantee that the predictive control problem will be feasible for all time, given any feasible initial state
Keywords :
closed loop systems; discrete time systems; invariance; nonlinear control systems; predictive control; set theory; constrained nonlinear discrete-time systems; control horizon; feasibility; invariant sets; model predictive control; necessary and sufficient conditions; prediction horizon; recursive algorithm; terminal constraint set; Constraint theory; Control systems; Design engineering; Nonlinear control systems; Predictive control; Predictive models; Robust stability; Set theory; Strain control; Sufficient conditions;
Conference_Titel :
Decision and Control, 2000. Proceedings of the 39th IEEE Conference on
Conference_Location :
Sydney, NSW
Print_ISBN :
0-7803-6638-7
DOI :
10.1109/CDC.2001.914717