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;
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.
978-9-4638-4236-5
Costs, Control systems, Electron tubes, Lyapunov methods, Predictive control
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Utilizza questo identificativo per citare o creare un link a questo documento: http://hdl.handle.net/20.500.11771/20323
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