Publication: Interpolation-based off-line robust MPC for uncertain polytopic discrete-time systems
Issued Date
2014-01-11
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01258281
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2-s2.0-84892569348
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Mahidol University
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SCOPUS
Bibliographic Citation
Engineering Journal. Vol.18, No.1 (2014), 87-104
Suggested Citation
Pornchai Bumroongsri, Soorathep Kheawhom Interpolation-based off-line robust MPC for uncertain polytopic discrete-time systems. Engineering Journal. Vol.18, No.1 (2014), 87-104. doi:10.4186/ej.2014.18.1.87 Retrieved from: https://repository.li.mahidol.ac.th/handle/20.500.14594/33831
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Title
Interpolation-based off-line robust MPC for uncertain polytopic discrete-time systems
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Abstract
In this paper, interpolation-based off-line robust MPC for uncertain polytopic discrete-time systems is presented. Instead of solving an on-line optimization problem at each sampling time to find a state feedback gain, a sequence of state feedback gains is pre-computed off-line in order to reduce the on-line computational time. At each sampling time, the real-time state feedback gain is calculated by linear interpolation between the pre-computed state feedback gains. Three interpolation techniques are proposed. In the first technique, the smallest ellipsoids containing the measured state are approximated and the corresponding real-time state feedback gain is calculated. In the second technique, the pre-computed state feedback gains are interpolated in order to get the largest possible real-time state feedback gain while robust stability is still guaranteed. In the last technique, the real-time state feedback gain is calculated by minimizing the violation of the constraints of the adjacent inner ellipsoids so the real-time state feedback gain calculated has to regulate the state from the current ellipsoids to the adjacent inner ellipsoids as fast as possible. As compared to on-line robust MPC, the proposed techniques can significantly reduce on-line computational time while the same level of control performance is still ensured.