Nonlinear feedback model predictive control for constrained Lur'e systems

Authors:
Ju H. Park;H. Y. Jung;S. M. Lee
Affiliations:
Department of Electrical Engineering, Yeungnam University, Kyongsan, Republic of Korea;Department of Information and Communication Engineering, Ye-Ungnam University, Republic of Korea;Department of Electronic Engineering, Daegu University, Gyungsan, Republic of Korea
Venue:
CSCS '11 Proceedings of the 2nd international conference on Circuits, systems, control, signals
Year:
2011

Citing 5
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Abstract

We consider a nonlinear model predictive control problem of discrete-time constrained systems with sector bounded nonlinearity. The augmented state feedback law is derived by using an Lyapunov function which consists of state and sector bounded nonlinear function. The results are further extended to terminal cost monotonicity condition for the nonlinear model predictive controller synthesis which is given in terms of a finite horizon of linear matrix inequalities (LMIs). To show the effectiveness of the proposed method, the controller is applied to a flexible link robotic arm and demonstrate the simulation results.