Abstract
A novel predictive controller for constrained linear time-varying systems with polytopic uncertainty is presented. The algorithm minimises an upper bound on the predicted quadratic cost function with respect to the first few future control moves and a feedback gain that completes the description of the predicted input trajectory. The optimisation problem is shown to be a convex problem which can be formulated as a linear-matrix-inequality (LMI) problem. Constraints are handled by posing necessary and sufficient conditions on the first few future control moves and a sufficient condition on the moves thereafter; these conditions are formulated in terms of additional LMIs. The algorithm is shown to be asymptotically stable. An example illustrates the efficiency of the method.
Original language | English |
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Pages (from-to) | 13-18 |
Number of pages | 6 |
Journal | IEE proceedings - Control theory and applications |
Volume | 147 |
Issue number | 1 |
DOIs | |
Publication status | Published - 2000 |
Keywords
- n/a OA procedure