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

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.
Constrained control
Linear time variant systems
Predictive control
Uncertain systems
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Utilizza questo identificativo per citare o creare un link a questo documento: http://hdl.handle.net/20.500.11771/20201
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