Publication: Off-line robust constrained MPC for linear time-varying systems with persistent disturbances
Issued Date
2014-01-01
Resource Type
ISSN
15635147
1024123X
1024123X
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2-s2.0-84899930731
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Mahidol University
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SCOPUS
Bibliographic Citation
Mathematical Problems in Engineering. Vol.2014, (2014)
Suggested Citation
P. Bumroongsri, S. Kheawhom Off-line robust constrained MPC for linear time-varying systems with persistent disturbances. Mathematical Problems in Engineering. Vol.2014, (2014). doi:10.1155/2014/936093 Retrieved from: https://repository.li.mahidol.ac.th/handle/20.500.14594/33893
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Title
Off-line robust constrained MPC for linear time-varying systems with persistent disturbances
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Abstract
An off-line robust constrained model predictive control (MPC) algorithm for linear time-varying (LTV) systems is developed. A novel feature is the fact that both model uncertainty and bounded additive disturbance are explicitly taken into account in the off-line formulation of MPC. In order to reduce the on-line computational burdens, a sequence of explicit control laws corresponding to a sequence of positively invariant sets is computed off-line. At each sampling time, the smallest positively invariant set containing the measured state is determined and the corresponding control law is implemented in the process. The proposed MPC algorithm can guarantee robust stability while ensuring the satisfaction of input and output constraints. The effectiveness of the proposed MPC algorithm is illustrated by two examples. © 2014 P. Bumroongsri and S. Kheawhom.