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Robust explicit model predictive control for linear systems via interpolation techniques
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DOI：10.1002/rnc.1500.png)
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Abstract
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This paper presents a novel interpolation-based model predictive control (IMPC) for constrained linear systems with bounded disturbances. The idea of so-called 'pre-stabilizing' MPC is extended by making interpolation among several 'pre-stabilizing' MPC controllers, through which the domain of attraction can be magnificently enlarged. Compared with the standard 'pre-stabilizing' MPC, the proposed approach has the advantage of combining the merits of having a large domain of attraction and a good behavior. Furthermore, such an IMPC problem can be solved off-line by multi-parametric programming. The optimal solution is given in an explicitly piecewise affine form. A simple algorithm for the implementation of the explicit MPC control laws is also proposed. Copyright (C) 2009 John Wiley & Sons, Ltd.
Keywords:
linear constrained systems with bounded disturbances
interpolated model predictive control
multi-parametric programming
model predictive control
interpolation
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