Extended robust model predictive control

The model predictive control (MPC) of stable linear systems with model uncertainty is addressed. A strategy is proposed to extend existing robust controllers that were developed for the regulator problem, to the general case in which the system equilibrium point is unknown. Nominal stability is obtained with the consideration of an infinite output horizon. The method is based on a state-space model formulation that allows a straightforward solution to the Lyapunov equation. The method is detailed for two particular controllers of the robust MPC literature. Simulation examples illustrate the performance of the proposed approach and demonstrate that it can be implemented in real applications. © 2004 American Institute of Chemical Engineers AIChE J, 50: 1824–1836, 2004

[1]  Manfred Morari,et al.  Robust constrained model predictive control using linear matrix inequalities , 1994, Proceedings of 1994 American Control Conference - ACC '94.

[2]  Zhenghong Yu,et al.  Worst-case formulations of model predictive control for systems with bounded parameters , 1997, Autom..

[3]  Darci Odloak,et al.  Robust model predictive control of integrating processes , 2003 .

[4]  Sameer Ralhan,et al.  Robust control of stable linear systems with continuous uncertainty , 2000 .

[5]  T. Badgwell.  Robust model predictive control of stable linear systems , 1997 .

[6]  S. Joe Qin,et al.  A survey of industrial model predictive control technology , 2003 .

[7]  E. Polak,et al.  Moving horizon control of linear systems with input saturation and plant uncertainty Part 1. Robustness , 1993 .

[8]  Yaman Arkun,et al.  Quasi-Min-Max MPC algorithms for LPV systems , 2000, Autom..

[9]  M. A. Henson,et al.  Receding horizon control and discontinuous state feedback stabilization , 1995 .

[10]  David Q. Mayne,et al.  Constrained model predictive control: Stability and optimality , 2000, Autom..

[11]  Darci Odloak,et al.  MPC for stable linear systems with model uncertainty , 2003, Autom..

[12]  J. Rawlings,et al.  The stability of constrained receding horizon control , 1993, IEEE Trans. Autom. Control..

[13]  E. Gilbert,et al.  Optimal infinite-horizon feedback laws for a general class of constrained discrete-time systems: Stability and moving-horizon approximations , 1988 .

[14]  P. Vuthandam,et al.  Performance bounds for robust quadratic dynamic matrix control with end condition , 1995 .

[15]  Jay H. Lee,et al.  Min-max predictive control techniques for a linear state-space system with a bounded set of input matrices , 2000, Autom..

[16]  Jay H. Lee,et al.  Model predictive control: past, present and future , 1999 .