Robust Model Predictive Control for Switched Piecewise Linear Hybrid Systems
نویسنده
چکیده
This paper investigates the robust tracking and regulation control problems for discrete-time, switched piecewise linear hybrid systems affected by parameter variations. In particular, the main question addressed is related to the existence of a controller such that the closedloop system exhibits an attainable desired behavior under all possible parameter variation. Checking attainability and calculating the state space regions for which a robust control is assured despite the uncertainty is performed using a polyhedral approach. A model predictive control law derived from a quadratic cost function minimization is further examined as a simple and fast sub-optimal robust control. An application of the proposed technique to a two-tank benchmark is finally presented.
منابع مشابه
Hybrid model predictive control of a nonlinear three-tank system based on the proposed compact form of piecewise affine model
In this paper, a predictive control based on the proposed hybrid model is designed to control the fluid height in a three-tank system with nonlinear dynamics whose operating mode depends on the instantaneous amount of system states. The use of nonlinear hybrid model in predictive control leads to a problem of mixed integer nonlinear programming (MINLP) which is very complex and time consuming t...
متن کاملA 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 کاملPiecewise affine approximation of nonlinear systems – a case study of a benchmark nonlinear boiler
This paper deals with piecewise affine (PWA) approximation of nonlinear systems. Its motivation is simple. If the controlled plant exhibits nonlinear behavior, linear controller based on linearized model may often be unable to achieve satisfactory performance. On the other hand, intrinsic complexity of the nonlinear controller based on full nonlinear model may prevent it from practical applicat...
متن کاملVoltage Regulation of DC-DC Series Resonant Converter Operating in Discontinuous Conduction Mode: The Hybrid Control Approach
Dynamic modeling and control of dc-dc series resonant converter (SRC) especially when operating in discontinuous conduction mode (DCM) is still a challenge in power electronics. Due to semiconductors switching, SRC is naturally represented as a switched linear system, a class of hybrid systems. Nevertheless, the hybrid nature of the SRC is commonly neglected and it is modeled as a purely contin...
متن کاملRobust Model Predictive Control for a Class of Discrete Nonlinear systems
This paper presents a robust model predictive control scheme for a class of discrete-time nonlinear systems subject to state and input constraints. Each subsystem is composed of a nominal LTI part and an additive uncertain non-linear time-varying function which satisfies a quadratic constraint. Using the dual-mode MPC stability theory, a sufficient condition is constructed for synthesizing the ...
متن کامل