Design of robust model-based controllers via parametric programming

  • Authors:

  • Vassilis Sakizlis;Nikolaos M.P. Kakalis;Vivek Dua;John D. Perkins;Efstratios N. Pistikopoulos

  • Affiliations:

  • Centre for Process Systems Engineering, Department of Chemical Engineering, Imperial College, London, South Kensington Campus, London SW7 2AZ, UK;Centre for Process Systems Engineering, Department of Chemical Engineering, Imperial College, London, South Kensington Campus, London SW7 2AZ, UK;Centre for Process Systems Engineering, Department of Chemical Engineering, Imperial College, London, South Kensington Campus, London SW7 2AZ, UK;Centre for Process Systems Engineering, Department of Chemical Engineering, Imperial College, London, South Kensington Campus, London SW7 2AZ, UK;Centre for Process Systems Engineering, Department of Chemical Engineering, Imperial College, London, South Kensington Campus, London SW7 2AZ, UK

  • Venue:
  • Automatica (Journal of IFAC)
  • Year:
  • 2004

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Abstract

In this paper a method is presented for deriving the explicit robust model-based optimal control law for constrained linear dynamic systems. The controller is derived off-line via parametric programming before any actual process implementation takes place. The proposed control scheme guarantees feasible operation in the presence of bounded input uncertainties by (i) explicitly incorporating in the controller design stage a set of feasibility constraints and (ii) minimizing the nominal performance, or the expectation of the performance over the uncertainty space. An extension of the method to problems involving target point tracking in the presence of persistent disturbances is also discussed. The general concept is illustrated with two examples.