Decentralized scenario-based plug and play MPC for linear systems with multiplicative uncertainties

This paper proposes a novel approach to decentralized control with Plug and Play capabilities. Plug and Play allows a flexible addition and removal of subsystems to an existing plant. The proposed approach guarantees stability and robustness to a certain degree for systems with additive disturbances and multiplicative uncertainties. For the controller design, the plant is decomposed into subsystems. The algorithms for adding and removing subsystems are given. By applying the basic idea of scenario-based methods, the proposed approach is less conservative and can handle complex multiplicative uncertainties.

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