An efficient off-line formulation of robust model predictive control using linear matrix inequalities (original) (raw)

Stability Constraints for Robust Model Predictive Control

Mathematical Problems in Engineering, 2015

This paper proposes an approach for the robust stabilization of systems controlled by MPC strategies. Uncertain SISO linear systems with box-bounded parametric uncertainties are considered. The proposed approach delivers some constraints on the control inputs which impose sufficient conditions for the convergence of the system output. These stability constraints can be included in the set of constraints dealt with by existing MPC design strategies, in this way leading to the “robustification” of the MPC.

Robust constrained predictive control of uncertain norm-bounded linear systems

Automatica, 2004

A novel robust predictive control algorithm is presented for uncertain discrete-time input-saturated linear systems described by structured norm-bounded model uncertainties. The solution is based on the minimization, at each time instant, of a semi-definite convex optimization problem subject to a number of LMI feasibility constraints which grows up only linearly with the control horizon length NN. The general case of arbitrary NN is considered. Closed-loop stability and feasibility retention over the time are proved and comparisons with robust multi-model (polytopic) MPC algorithms are reported.