Robust constrained predictive control of uncertain norm-bounded linear systems

Authors:
Alessandro Casavola;Domenico Famularo;Giuseppe Franzé
Affiliations:
Universití degli Studi della Calabria, DEIS, Via P. Bucci, Cubo 41C, Rende (CS), 87036, Italy;Istituto per il Calcolo e le Reti ad Alte prestazioni (ICAR), CNR, Via Pietro Bucci, Cubo 41C, Rende (CS) 87036, Italy;Universití degli Studi della Calabria, DEIS, Via P. Bucci, Cubo 41C, Rende (CS), 87036, Italy
Venue:
Automatica (Journal of IFAC)
Year:
2004

Citing 7
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An ellipsoidal off-line MPC scheme for uncertain polytopic discrete-time systems

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Erratum: Erratum to: "Robust constrained predictive control of uncertain norm-bounded linear systems" [Automatica 40 (2004), 1865-1876]

Automatica (Journal of IFAC)

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Abstract

A novel robust predictive control algorithm is presented for uncertain discrete-time input-saturated linear systems described by structured norm-bounded model uncertainties. The solution is based on the minimization, at each time instant, of a semi-definite convex optimization problem subject to a number of LMI feasibility constraints which grows up only linearly with the control horizon length N. The general case of arbitrary N is considered. Closed-loop stability and feasibility retention over the time are proved and comparisons with robust multi-model (polytopic) MPC algorithms are reported.