Robust model predictive control of constrained linear systems with bounded disturbances
type: Item
instance of: scholarly article
title: Robust model predictive control of constrained linear systems with bounded disturbances
zbMATH Open document ID: 1066.93015
published in: Automatica
publication date: 2005-02-23T00:00:00Z
full work available at URL: http://hdl.handle.net/1959.13/25399
review text: A robust model predictive controller is proposed in which the initial state of the nominal/ref\-er\-ence model involved in the on-line optimization is a free decision variable, in addition to the control signals. It is shown that the value of the associated Lyapunov function is zero in the disturbance invariant set \(Z\). The set \(Z\) serves as the ``origin'' for the uncertain system when bounded disturbances are present. Based on this novelty, the robust attractivity and robust exponential stability of the set \(Z\) is established. Also, it is shown that the effective terminal set for the ``tube'' of trajectories emanating from the initial state in the uncertain case is not restricted. The obtained results depend on linearity and cannot easily be extended to nonlinear systems. The benefits of the proposed controller are exposed on the constrained sampled double integrator example.
reviewed by: Ingmar Randvee
Mathematics Subject Classification ID: 93B51
Mathematics Subject Classification ID: 93D09
Mathematics Subject Classification ID: 93B35
Mathematics Subject Classification ID: 93C73
Mathematics Subject Classification ID: 93C05
zbMATH DE Number: 2137843
zbMATH Keywords: predictive control
zbMATH Keywords: robust exponential stability
zbMATH Keywords: disturbance invariant sets
zbMATH Keywords: linear system
zbMATH Keywords: initial state
zbMATH Keywords: effective terminal set
zbMATH Keywords: ``tube'' of trajectories
author: D. Q. Mayne
author: María M. Seron
author: Saša V. Raković
MaRDI profile type: Publication
OpenAlex ID: W1981723834
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DOI: 10.1016/J.AUTOMATICA.2004.08.019
description: scientific article; zbMATH DE number 2137843