Nonquadratic Lyapunov functions for robust control
Automatica (Journal of IFAC)
(A,B)-invariant polyhedral sets of linear discrete-time systems
Journal of Optimization Theory and Applications
Delaunay partitions in Rn applied to non-convex programs and vertex/facet enumeration problems
Computers and Operations Research
Survey paper: Set invariance in control
Automatica (Journal of IFAC)
Brief Analysis of discrete-time piecewise affine and hybrid systems
Automatica (Journal of IFAC)
Survey Constrained model predictive control: Stability and optimality
Automatica (Journal of IFAC)
On integration of event-based estimation and robust MPC in a feedback loop
Proceedings of the 13th ACM international conference on Hybrid systems: computation and control
Computation of polytopic invariants for polynomial dynamical systems using linear programming
Automatica (Journal of IFAC)
Hi-index | 22.15 |
This paper presents a new (geometrical) approach to the computation of polyhedral (robustly) positively invariant (PI) sets for general (possibly discontinuous) nonlinear discrete-time systems possibly affected by disturbances. Given a @b-contractive ellipsoidal set E, the key idea is to construct a polyhedral set that lies between the ellipsoidal sets @bE and E. A proof that the resulting polyhedral set is contractive and thus, PI, is given, and a new algorithm is developed to construct the desired polyhedral set. The problem of computing polyhedral invariant sets is formulated as a number of quadratic programming (QP) problems. The number of QP problems is guaranteed to be finite and therefore, the algorithm has finite termination. An important application of the proposed algorithm is the computation of polyhedral terminal constraint sets for model predictive control based on quadratic costs.