Please use this identifier to cite or link to this item: http://hdl.handle.net/1959.13/25044
- A sufficient condition for the stability of optimizing controllers with saturating actuators
Heath, W. P.;
Wills, Adrian G.;
Akkermans, J. A. G.
- The quadratic programme that must be solved with certain output-feedback model predictive controllers can be expressed as a continuous sector-bounded nonlinearity together with two linear transformations. Thus, the multivariable circle criterion gives a simple test for stability, with or without model mismatch. In particular, it may be applied if the open-loop plant is stable and the actuators are subject to simple saturation constraints. In the case of single horizon model predictive control, it suffices to check for positive realness a transfer function matrix whose dimension corresponds to the number of inputs. For an arbitrary length receding horizon it suffices to check the poles of a low dimension transfer function matrix and the eigenvalues (over an appropriate range of operator values) of a matrix whose dimension is independent of the horizon length. Copyright (c) 2005 John Wiley & Sons, Ltd.
- International Journal of Robust and Nonlinear Control Vol. 15, no. 12, p. 515-529
- John Wiley & Sons
model predictive control;
quadratic lyapunov functions;
- Resource Type
- journal article