Publication: An Off-Line Formulation of Tube-Based Robust MPC Using Polyhedral Invariant Sets
Issued Date
2016-06-02
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15635201
00986445
00986445
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2-s2.0-84961282155
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Mahidol University
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SCOPUS
Bibliographic Citation
Chemical Engineering Communications. Vol.203, No.6 (2016), 736-745
Suggested Citation
Pornchai Bumroongsri, Soorathep Kheawhom An Off-Line Formulation of Tube-Based Robust MPC Using Polyhedral Invariant Sets. Chemical Engineering Communications. Vol.203, No.6 (2016), 736-745. doi:10.1080/00986445.2015.1089402 Retrieved from: https://repository.li.mahidol.ac.th/handle/123456789/43352
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Title
An Off-Line Formulation of Tube-Based Robust MPC Using Polyhedral Invariant Sets
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Abstract
© 2016, Copyright © Taylor & Francis Group, LLC. In this paper, an off-line formulation of tube-based robust model predictive control (MPC) using polyhedral invariant sets is proposed. A novel feature is the fact that no optimal control problem needs to be solved at each sampling time. Moreover, the proposed tube-based robust MPC algorithm can deal with the linear time-varying (LTV) system with bounded disturbance. The simulation results show that the state at each time step is restricted to lie within a tube whose center is the state of the nominal LTV system that converges to the origin. Finally, the state is kept within a tube whose center is at the origin, so robust stability is guaranteed. Satisfaction of the state and control constraints is guaranteed by employing tighter constraint sets for the nominal LTV system.