Robust model predictive control using saturated linear feedback controller

A robust model predictive control algorithm is proposed for linear systems with input saturation in this paper. Polytopic uncertain systems and structured time-varying uncertain systems are respectively considered. An infinite horizon worst-case performance function is used as on-line optimization objective. Using a saturated linear feedback controller, the control action can be obtained by solving an LMI optimization problem. The feasibility of the optimization problem at the original time implies the robust stability of the closed-loop control system. Two simulation examples are used to demonstrate the effectiveness of proposed algorithm.

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

[2]  Wook Hyun Kwon,et al.  On stability of constrained receding horizon control with finite terminal weighting matrix , 1997, 1997 European Control Conference (ECC).

[3]  Tingshu Hu,et al.  Control Systems with Actuator Saturation: Analysis and Design , 2001 .

[4]  Mayuresh V. Kothare,et al.  An e!cient o"-line formulation of robust model predictive control using linear matrix inequalities (cid:1) , 2003 .

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

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

[7]  J. Rossiter,et al.  Robust predictive control using tight sets of predicted states , 2000 .

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

[9]  Edoardo Mosca,et al.  Min-max predictive control strategies for input-saturated polytopic uncertain systems , 2000, Autom..

[10]  Shaoyuan Li,et al.  A synthesis approach of on-line constrained robust model predictive control , 2004, Autom..

[11]  Tingshu Hu,et al.  Control Systems with Actuator Saturation: Analysis and Design , 2001 .

[12]  Alberto Bemporad,et al.  The explicit linear quadratic regulator for constrained systems , 2003, Autom..

[13]  D. Chmielewski,et al.  On constrained infinite-time linear quadratic optimal control , 1996, Proceedings of 35th IEEE Conference on Decision and Control.

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

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

[16]  Alessandro Casavola,et al.  A feedback min-max MPC algorithm for LPV systems subject to bounded rates of change of parameters , 2002, IEEE Trans. Autom. Control..

[17]  Jian Liang Wang,et al.  Improved robust model predictive control with structured uncertainty , 2007 .

[18]  James B. Rawlings,et al.  Constrained linear quadratic regulation , 1998, IEEE Trans. Autom. Control..

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

[20]  Manfred Morari,et al.  An improved approach for constrained robust model predictive control , 2002, Autom..

[21]  Yugeng Xi,et al.  Improving off-line approach to robust MPC based-on nominal performance cost , 2007, Autom..

[22]  Fen Wu.  LMI-based robust model predictive control and its application to an industrial CSTR problem , 2001 .