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Constrained control Lyapunov function based model predictive control design
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DOI：10.1002/rnc.2896.png)
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Abstract
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This work considers linear systems with input constraints with the objective of designing a controller that guarantees stability from all initial conditions in the null-controllable region (the set of initial conditions from where the system can be stabilized). To this end, a recently developed procedure for construction of constrained control Lyapunov functions is utilized within a Lyapunov-based model predictive controller coupled with an auxiliary control design to achieve stabilization from all initial conditions in the null-controllable region. Illustrative simulation results as well as an application to a nonlinear chemical process example is presented to demonstrate the efficacy of the results.Copyright (c) 2012 John Wiley & Sons, Ltd.
Keywords:
constrained control Lyapunov functions
linear systems
model predictive control
null-controllable region
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