Title :
Robustly stabilizing MPC for perturbed PWL systems
Author :
Necoara, I. ; De Schutter, B. ; van den Boom, T.J.J. ; Hellendoorn, J.
Author_Institution :
Delft Center for Systems and Control, Delft University of Technology, Mekelweg 2, 2628 CD Delft, The Netherlands, phone: +31-15-278.71.71, fax:+31-15-278.66.79. i.necoara@dcsc.tudelft.nl
Abstract :
This paper deals with robustly stable model predictive control (MPC) of the class of piecewise linear systems. A piecewise linear feedback controller, that stabilizes the nominal system, is derived from linear matrix inequalities. Further, an algorithm is designed for constructing a polyhedral robustly positively invariant set for the system. First, a minmax feedback MPC scheme with known mode, based on a dual-mode approach that stabilizes the system, is presented. The second robustly stable MPC scheme is based on a semi-feedback controller, but this time the mode of the system is unknown.
Keywords :
Adaptive control; Algorithm design and analysis; Feedback; Linear matrix inequalities; Minimax techniques; Piecewise linear techniques; Predictive control; Predictive models; Robust control; Robustness;
Conference_Titel :
Decision and Control, 2005 and 2005 European Control Conference. CDC-ECC '05. 44th IEEE Conference on
Print_ISBN :
0-7803-9567-0
DOI :
10.1109/CDC.2005.1582747
