Model Predictive Control for Linear Parameter Varying Systems Using a New Parameter Dependent Terminal Weighting Matrix

Authors:
Sangmoon Lee;Sangchul Won
Affiliations:
The authors are with Department of Electronics and Electrical Engineering, POSTECH, Pohang, Korea. E-mail: sangmoon@postech.ac.kr, E-mail: won@postech.ac.kr;The authors are with Department of Electronics and Electrical Engineering, POSTECH, Pohang, Korea. E-mail: sangmoon@postech.ac.kr, E-mail: won@postech.ac.kr
Venue:
IEICE Transactions on Fundamentals of Electronics, Communications and Computer Sciences
Year:
2006

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Abstract

In this paper, we propose a new robust model predictive control (MPC) technique for linear parameter varying (LPV) systems expressed as linear systems with feedback parameters. It is based on the minimization of the upper bound of finite horizon cost function using a new parameter dependent terminal weighting matrix. The proposed parameter dependent terminal weighting matrix for norm-bounded uncertain models provides a less conservative condition for terminal inequality. The optimization problem that satisfies the terminal inequality is solved by semi-definite programming involving linear matrix inequalities (LMIs). A numerical example is included to illustrate the effectiveness of the proposed method.