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Feedback min-max model predictive control using a single linear program: robust stability and the explicit solution
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DOI：10.1002/rnc.889.png)
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Abstract
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In this paper we introduce a new stage cost and show that the use of this cost allows one to formulate a robustly stable feedback min-max model predictive control problem that can be solved using a single linear program. Furthermore, this is a multi-parametric linear program, which implies that the optimal control law is piecewise affine and can be explicitly pre-computed so that the linear program does not have to be solved on-line. We assume that the plant model is known, is discrete-time and linear time-invariant, is subject to unknown but bounded state disturbances and that the states of the system are measured. Two numerical examples are presented; one of these is taken from the literature, so that a direct comparison of solutions and computational complexity with earlier proposals is possible. Copyright (C) 2004 John Wiley Sons, Ltd.
Keywords:
min-max problems
robust control
optimal control
predictive control
receding horizon control
parametric programming
piecewise linear control
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