Brief An improved approach for constrained robust model predictive control

Authors:
Francesco A. Cuzzola;Jose C. Geromel;Manfred Morari
Affiliations:
Automatic Control Laboratory, Swiss Federal Institute of Technology, Physikstrasse 3, CH-8092 Zurich, Switzerland;LAC-DT/School of Electrical and Computer Engineering, UNICAMP C.P. 6101, 13081-970, Campinas, SP, Brazil;Automatic Control Laboratory, Swiss Federal Institute of Technology, Physikstrasse 3, CH-8092 Zurich, Switzerland
Venue:
Automatica (Journal of IFAC)
Year:
2002

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Abstract

In this paper, we present a new technique to address constrained robust model predictive control. The main advantage of this new approach with respect to other well-known techniques is the reduced conservativeness. Specifically, the technique described in this paper can be applied to polytopic uncertain systems and is based on the use of several Lyapunov functions each one corresponding to a different vertex of the uncertainty's polytope.