ROBUST MPC CONTROLLER DESIGN FOR SWITCHED SYSTEMS USING MULTI-PARAMETER DEPENDENT LYAPUNOV FUNCTION

The paper addresses the problem of designing a robust output/state model predictive control for linear polytopic switched systems. We propose a new method for calculation of control algorithm parameters for predictive robust control of a linear switched polytopic system. Lyapunov function approach guarantees the multi-parameter-dependent quadratic stability (MPDQS) and guaranteed cost for a closed-loop system. In the proposed control scheme the required on line computation load is significantly less than that in MPC references, which opens possibility to use this control design scheme not only for plants with slow dynamics but also for faster ones. Sufficient robust stability conditions are given in the form of BMI and respective heuristic LMI iterative algorithm. The examples show the effectiveness of the proposed output feedback design method.

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