Tube Model Predictive Control (TMPC) guarantees that a set of prescribed constraints is satisfied for all possible realizations of a bounded disturbance acting on the controlled system. In this paper, we compare two popular TMPC schemes, highlight the many similarities and few differences and close a theoretical gap by proving the existence of a unifying Lyapunov function. We demonstrate the theoretical results with the help of a simple example in simulations which highlights a case in which the two approaches differ.
On the Similarity Between Two Popular Tube MPC Formulations / Zanon, Mario; Gros, Sebastien. - (2021), pp. 651-656. ( 2021 European Control Conference Delft, Netherlands June 29 - July 2, 2021) [10.23919/ECC54610.2021.9654995].
On the Similarity Between Two Popular Tube MPC Formulations
Zanon, Mario;
2021
Abstract
Tube Model Predictive Control (TMPC) guarantees that a set of prescribed constraints is satisfied for all possible realizations of a bounded disturbance acting on the controlled system. In this paper, we compare two popular TMPC schemes, highlight the many similarities and few differences and close a theoretical gap by proving the existence of a unifying Lyapunov function. We demonstrate the theoretical results with the help of a simple example in simulations which highlights a case in which the two approaches differ.| File | Dimensione | Formato | |
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