Enlargement of polytopic terminal region in NMPC by interpolation and partial invariance

Authors:
Mark Cannon;Basil Kouvaritakis;Venkatesh Deshmukh
Affiliations:
Department of Engineering Science, University of Oxford, Oxford OX1 3PJ, UK;Department of Engineering Science, University of Oxford, Oxford OX1 3PJ, UK;Department of Mechanical Engineering, University of Alaska Fairbanks, AK 99775, USA
Venue:
Automatica (Journal of IFAC)
Year:
2004

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Abstract

This paper uses the concept of partial invariance to derive a sequence of linear programs in order to maximize offline the volume of an invariant polytopic set with an arbitrary predefined number of vertices subject to a bound on closed-loop performance. Interpolation techniques are used to determine a nonlinear control law which is optimal with respect to a closed-loop cost bound through the on-line solution of a linear program. The invariant polytope is also used to define a receding horizon control law through an appropriate terminal constraint and cost.