Finite Horizon Robust Model Predictive Control Using Linear Matrix Inequalities
نویسندگان
چکیده
In this paper, we develop a finite horizon model predictive control algorithm which is robust to model uncertainties. A moving average system matrix is constructed to capture model uncertainties and facilitate future output predictions. The paper is focused on step tracking control. Using linear matrix inequality techniques, the design is converted into a semi-definite optimization problem. Closed-loop stability is treated by adding extra terminal cost constraints. The simulation results demonstrate that the approach can be useful for practical applications. Copyright c ©2005 IFAC
منابع مشابه
A Linear Matrix Inequality (LMI) Approach to Robust Model Predictive Control (RMPC) Design in Nonlinear Uncertain Systems Subjected to Control Input Constraint
In this paper, a robust model predictive control (MPC) algorithm is addressed for nonlinear uncertain systems in presence of the control input constraint. For achieving this goal, firstly, the additive and polytopic uncertainties are formulated in the nonlinear uncertain systems. Then, the control policy can be demonstrated as a state feedback control law in order to minimize a given cost funct...
متن کاملRobust model predictive control for LPV systems using relaxation matrices
A method of computing a new model predictive control (MPC) law for linear parameter varying systems with input constraints is proposed. The proposed method improves feasibility and system performance by deriving a new sufficient condition for the cost monotonicity. The control problem is formulated as a minimisation of the upper bound of finite horizon cost function satisfying the sufficient co...
متن کاملDevelopment of RMPC Algorithm for Compensation of Uncertain Time-Delay and Disturbance in NCS
In this paper, a synthesis method based on robust model predictive control is developed for compensation of uncertain time-delays in networked control systems with bounded disturbance. The proposed method uses linear matrix inequalities and uncertainty polytope to model uncertain time-delays and system disturbances. The continuous system with time-delay is discretized using uncertainty po...
متن کاملFinite horizon robust model predictive control with terminal cost constraints
In this paper, we develop a finite horizon model predictive control algorithm which is robust to modelling uncertainties. A moving average system matrix is constructed to capture modelling uncertainties and facilitate the future output prediction. The paper is mainly focused on the step tracking problem. Using linear matrix inequality techniques, the design is converted into a semi-definite opt...
متن کاملRobust constrained model predictive control using linear matrix inequalities,
The primary disadvantage of current design techriiques for xriodel predictive control (MPC) is their inability to deal explicitly with plant model uncertainty. In this paper, we present a new approacli for robust MPC synthesis which allows explicit irlcorporation of the description of pla,nt uricertainty in the problem formulation. The uncertainty is expressed both in the time domain and the fr...
متن کامل