Abstract
This paper presents an algorithm that computes polytopic robust control-invariant (RCI) sets for rationally parameter-dependent systems with additive disturbances. By means of novel linear matrix inequalities (LMI) feasibility conditions for invariance along with a newly developed method for volume maximization, an iterative algorithm is proposed for the computation of RCI sets with maximized volumes. The obtained RCI sets are symmetric around the origin by construction and have a user-defined level of complexity. Unlike many similar approaches, the proposed algorithm directly computes the RCI sets without requiring control inputs to be in a specific feedback form. In fact, a specific control input is obtained from the LMI problem for each extreme point of the RCI set. The outcomes of the proposed algorithm can be used to construct a piecewise-affine controller based on offline computations.
Original language | English |
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Pages (from-to) | 1674-1688 |
Number of pages | 15 |
Journal | International journal of robust and nonlinear control |
Volume | 31 |
Issue number | 5 |
DOIs | |
Publication status | Published - 25 Mar 2021 |
Keywords
- invariant set
- linear fractional transformation
- linear matrix inequalities
- linear systems
- semi-definite program