Robust model predictive control of constrained linear systems with bounded disturbances

Title: Robust model predictive control of constrained linear systems with bounded disturbances
Creator: Mayne, D. Q.; Seron, Maria M.; Rakovic, S. V.
Relation: Automatica Vol. 41, no. 2, p. 219-224
Publisher: Elsevier
Resource Type: journal article
Date: 2005
Description: This paper provides a novel solution to the problem of robust model predictive control of constrained, linear, discrete-time systems in the presence of bounded disturbances. The optimal control problem that is solved online includes, uniquely, the initial state of the model employed in the problem as a decision variable. The associated value function is zero in a disturbance invariant set that serves as the 'origin' when bounded disturbances are present, and permits a strong stability result, namely robust exponential stability of the disturbance invariant set for the controlled system with bounded disturbances, to be obtained. The resultant online algorithm is a quadratic program of similar complexity to that required in conventional model predictive control.
Subject: robust model predictive control; robustness; bounded disturbances; invariant-sets; stability
Identifier: http://hdl.handle.net/1959.13/25399
Identifier: uon:361
Identifier: ISSN:0005-1098
Language: eng
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