Feedback Linearization Mpc for Discrete-time Bilinear Systems

Unlike earlier work, this paper identifies parts of the state space where it is possible to invoke feedback linearization and uses the closed-loop paradigm [8] to accommodate input constraints while utilizing an extremely efficient online receding horizon strategy. The key to this development is a partial invariance property that is derived through the use of linear difference inclusion made possible due to the bilinear nature of the models considered here. For all other parts of the state space the proposed algorithm switches to a bilinear controller which is designed to give invariance and feasibility over low complexity polytopes. Without increasing computational complexity, the use of bilinear controllers affords extra freedom with which to maximize the region of attraction. The improvements in terms of this and closed loop output performance are shown to be very significant. Copyright © 2002 IFAC