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;
2021-01-01
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 in questo prodotto:
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