Time-domain response shaping in constrained RHC with response model: Direct response design via ILQ approach

This paper proposes a technique for a time-domain response shaping in constrained receding horizon control (RHC). In this technique, a response model for a state feedback RHC is given as an unconstrained LQ optimal feedback system with desired time-domain characteristics. According to the inverse LQ (ILQ) approach, the response model is directly determined from dominant pole assignment. This means that there is no need to search suitable weighting matrices in a quadratic performance index for the response model design. By using the existing SVD based RHC scheme, we can construct an admissible input sequence for the constrained optimal control from the LQ response model. The RHC algorithm minimizes the performance error to the unconstrained response model in a finite control horizon.