A new interpolating control scheme for uncertain linear systems is developed. The interpolation is done between two saturated control laws, each given with its associated invariant set. A linear search is performed to compute a sub-optimal interpolation coefficient. Two algorithms are suggested — each incorporating a different optimization objective. The method guarantees robust stability and recursive feasibility, also in presence of persistent disturbances.
Interpolation based predictive control by ellipsoidal invariant sets / Rubin, D.; Mercader, P.; Gutman, P. -O.; Nguyen, H. -N.; Bemporad, A.. - In: IFAC JOURNAL OF SYSTEMS AND CONTROL. - ISSN 2468-6018. - 12:(2020), p. 100084. [10.1016/j.ifacsc.2020.100084]
Interpolation based predictive control by ellipsoidal invariant sets
Bemporad A.
2020
Abstract
A new interpolating control scheme for uncertain linear systems is developed. The interpolation is done between two saturated control laws, each given with its associated invariant set. A linear search is performed to compute a sub-optimal interpolation coefficient. Two algorithms are suggested — each incorporating a different optimization objective. The method guarantees robust stability and recursive feasibility, also in presence of persistent disturbances.| File | Dimensione | Formato | |
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