A fast ellipsoidal MPC scheme for discrete-time polytopic linear parameter varying systems

  • Authors:

  • Alessandro Casavola;Domenico Famularo;Giuseppe Franzè;Emanuele Garone

  • Affiliations:

  • Universití degli Studi della Calabria, Via Pietro Bucci, Cubo 42C, I-87036 Rende (CS), Italy;Universití degli Studi della Calabria, Via Pietro Bucci, Cubo 42C, I-87036 Rende (CS), Italy;Universití degli Studi della Calabria, Via Pietro Bucci, Cubo 42C, I-87036 Rende (CS), Italy;Université Libre de Bruxelles, Avenue F.D. Roosevelt 50, B-1050 Brussels, Belgium

  • Venue:
  • Automatica (Journal of IFAC)
  • Year:
  • 2012

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Abstract

This paper proposes a fast ellipsoidal Model Predictive Control (MPC) strategy to address feedback regulation problems for constrained polytopic Linear Parameter Varying (LPV) systems subject to bounded disturbances. In order to deal with the specific non-convex structure of the state prediction tubes arising in LPV contexts, a new convexification procedure is proposed and, based on the off-line computation of a sequence of inner ellipsoidal approximations of exact one-step controllable sets, a computationally low-demanding MPC algorithm is presented. Comparisons with state-of-the-art MPC control algorithms for LPV systems are reported in a final numerical example where several methods are contrasted in terms of achievable domains of attraction, control performance, numerical burdens and memory requirements.