Robust model predictive control based on mixed ℋ2/ℋ∞ control approach

This paper presents a robust model predictive control design method using mixed ℋ2/ℋ∞ for time invariant discrete-time linear systems in the presence of unknown bounded disturbances and system perturbations. The controller has the form of state feedback, satisfies input and state constraints and is constructed from the solution of a set of feasibility linear matrix inequalities. The control law takes account of disturbances and uncertainty naturally. The validity of this approach is illustrated by a realistic design example.

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