Article ID | Journal | Published Year | Pages | File Type |
---|---|---|---|---|
10399035 | Automatica | 2005 | 6 Pages |
Abstract
This paper provides a novel solution to the problem of robust model predictive control of constrained, linear, discrete-time systems in the presence of bounded disturbances. The optimal control problem that is solved online includes, uniquely, the initial state of the model employed in the problem as a decision variable. The associated value function is zero in a disturbance invariant set that serves as the 'origin' when bounded disturbances are present, and permits a strong stability result, namely robust exponential stability of the disturbance invariant set for the controlled system with bounded disturbances, to be obtained. The resultant online algorithm is a quadratic program of similar complexity to that required in conventional model predictive control.
Related Topics
Physical Sciences and Engineering
Engineering
Control and Systems Engineering
Authors
D.Q. Mayne, M.M. Seron, S.V. RakoviÄ,