- Title
- Robust model predictive control of constrained linear systems with bounded disturbances
- Creator
- Mayne, D. Q.; Seron, Maria M.; Rakovic, S. V.
- Relation
- Automatica Vol. 41, no. 2, p. 219-224
- Publisher
- Elsevier
- Resource Type
- journal article
- Date
- 2005
- Description
- This paper provides a novel solution to the problem of robust model predictive control of constrained, linear, discrete-time systems in the presence of bounded disturbances. The optimal control problem that is solved online includes, uniquely, the initial state of the model employed in the problem as a decision variable. The associated value function is zero in a disturbance invariant set that serves as the 'origin' when bounded disturbances are present, and permits a strong stability result, namely robust exponential stability of the disturbance invariant set for the controlled system with bounded disturbances, to be obtained. The resultant online algorithm is a quadratic program of similar complexity to that required in conventional model predictive control.
- Subject
- robust model predictive control; robustness; bounded disturbances; invariant-sets; stability
- Identifier
- uon:361
- Identifier
- http://hdl.handle.net/1959.13/25399
- Identifier
- ISSN:0005-1098
- Language
- eng
- Full Text
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