Technical communique: Improving off-line approach to robust MPC based-on nominal performance cost

Authors:
BaoCang Ding;YuGeng Xi;Marcin T. Cychowski;Thomas O'Mahony
Affiliations:
School of Electricity and Automation, Hebei University of Technology, Tianjin 300130, PR China;Institute of Automation, Shanghai Jiaotong University, Shanghai 200240, PR China;Department of Electronic Engineering, Cork Institute of Technology, Rossa Avenue, Cork, Ireland;Department of Electronic Engineering, Cork Institute of Technology, Rossa Avenue, Cork, Ireland
Venue:
Automatica (Journal of IFAC)
Year:
2007

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Abstract

This paper gives two alternative off-line synthesis approaches to robust model predictive control (RMPC) for systems with polytopic description. In each approach, a sequence of explicit control laws that correspond to a sequence of nested asymptotically invariant ellipsoids are constructed off-line. In order to accommodate a wider class of systems, nominal performance cost is chosen to substitute the ''worst-case'' one in an existing technique. In the design of control law for a larger ellipsoid, the second approach further incorporates the knowledge of control laws associated with all smaller ellipsoids, so as to further improve feasibility and optimality. The effectiveness of the alternative approaches is illustrated by a simulation example.