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Robust model predictive control using tubes
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DOI：10.1016/j.automatica.2003.08.009.png)
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Abstract
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A form of feedback model predictive control (MPC) that overcomes disadvantages of conventional MPC but which has manageable computational complexity is presented. The optimal control problem, solved on-line, yields a `tube' and an associated piecewise affine control law that maintains the controlled trajectories in the tube despite uncertainty; computational complexity is linear (rather than exponential) in horizon length. Asymptotic stability of the controlled system is established. (C) 2003 Elsevier Ltd. All rights reserved.
Keywords:
robustness
model predictive control
uncertain systems
tubes
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5.9
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1.2W
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AUTOMATICA
AUTOMATICAIF5.9
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