On set-theoretic methods in tracking MPC

Authors:
Johannes P. Maree
Affiliations:
Department of Engineering Cybernetics, Norwegian University of Science and Technology, 7034 Trondheim, Norway
Venue:
International Journal of Systems, Control and Communications
Year:
2013

Citing 6
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Brief paper: Enlarging the domain of attraction of stable MPC controllers, maintaining the output performance

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Set-Theoretic Methods in Control

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Enlarging the domain of attraction of MPC controllers

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Abstract

The construction of an enlarged terminal constraint set, which consequently implies a larger domain of attraction, is presented for the dual-mode control paradigm for tracking problems. Subsequently, a receding horizon optimal control problem is formulated as a Quadratic Programming problem, which can be efficiently solved on-line. The resulting formulation allows tracking to a set of admissible steady-state/input pairs, thereby, promoting on-line change of economic objectives, by the selection of different operational set-points, whilst, guaranteeing stability and feasibility of the underlying problem. Proof of asymptotic convergence and stability, using Lyapunov arguments, is given for this enlarged set of admissible steady-states.