Robust model predictive control using tubes

Authors:
W. Langson;I. Chryssochoos;S. V. Raković/;D. Q. Mayne
Affiliations:
Honeywell Hi-Spec Solutions, Sloane Park, South Africa;Department of Electrical/ Electronic Engineering, Imperial College of Science, Technology and Medicine, Exhibition Road, London SW7 2BT, UK;Department of Electrical/ Electronic Engineering, Imperial College of Science, Technology and Medicine, Exhibition Road, London SW7 2BT, UK;Department of Electrical/ Electronic Engineering, Imperial College of Science, Technology and Medicine, Exhibition Road, London SW7 2BT, UK
Venue:
Automatica (Journal of IFAC)
Year:
2004

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Abstract

A form of feedback model predictive control (MPC) that overcomes disadvantages of conventional MPC but which has manageable computational complexity is presented. The optimal control problem, solved on-line, yields a 'tube' and an associated piecewise affine control law that maintains the controlled trajectories in the tube despite uncertainty; computational complexity is linear (rather than exponential) in horizon length. Asymptotic stability of the controlled system is established.