Robust explicit model predictive control via regular piecewise-affine approximation

This paper proposes an explicit model predictive control design approach for regulation of linear time-invariant systems subject to both state and control constraints, in the presence of additive disturbances. The proposed control law is implemented as a piecewise-affine function defined on a regula...

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Published inInternational journal of control Vol. 87; no. 12; pp. 2583 - 2593
Main Authors Rubagotti, Matteo, Barcelli, Davide, Bemporad, Alberto
Format Journal Article
LanguageEnglish
Published Abingdon Taylor & Francis 02.12.2014
Taylor & Francis Ltd
Subjects
Asymptotic properties
Control systems
Digital circuits
Disturbances
Law
Mathematical analysis
Mathematical models
model predictive control
Partitions
piecewise-affine functions
Predictive control
uncertain systems
Online AccessGet full text
ISSN0020-7179
1366-5820
DOI10.1080/00207179.2014.935958

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Abstract This paper proposes an explicit model predictive control design approach for regulation of linear time-invariant systems subject to both state and control constraints, in the presence of additive disturbances. The proposed control law is implemented as a piecewise-affine function defined on a regular simplicial partition, and has two main positive features. First, the regularity of the simplicial partition allows one to efficiently implement the control law on digital circuits, thus achieving extremely fast computation times. Moreover, the asymptotic stability (or the convergence to a set including the origin) of the closed-loop system can be enforced a priori, rather than checked a posteriori via Lyapunov analysis.
AbstractList This paper proposes an explicit model predictive control design approach for regulation of linear time-invariant systems subject to both state and control constraints, in the presence of additive disturbances. The proposed control law is implemented as a piecewise-affine function defined on a regular simplicial partition, and has two main positive features. First, the regularity of the simplicial partition allows one to efficiently implement the control law on digital circuits, thus achieving extremely fast computation times. Moreover, the asymptotic stability (or the convergence to a set including the origin) of the closed-loop system can be enforced a priori, rather than checked a posteriori via Lyapunov analysis. [PUBLICATION ABSTRACT]
This paper proposes an explicit model predictive control design approach for regulation of linear time-invariant systems subject to both state and control constraints, in the presence of additive disturbances. The proposed control law is implemented as a piecewise-affine function defined on a regular simplicial partition, and has two main positive features. First, the regularity of the simplicial partition allows one to efficiently implement the control law on digital circuits, thus achieving extremely fast computation times. Moreover, the asymptotic stability (or the convergence to a set including the origin) of the closed-loop system can be enforced a priori, rather than checked a posteriori via Lyapunov analysis.
Author Rubagotti, Matteo
Bemporad, Alberto
Barcelli, Davide
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  surname: Bemporad
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  organization: IMT Institute for Advanced Studies
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SubjectTerms Asymptotic properties
Control systems
Digital circuits
Disturbances
Law
Mathematical analysis
Mathematical models
model predictive control
Partitions
piecewise-affine functions
Predictive control
uncertain systems
Title Robust explicit model predictive control via regular piecewise-affine approximation
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