Robust MPC for the constrained system with polytopic uncertainty

Xiangjie Liu, Sumei Feng and Miaomiao Ma

International Journal of Systems Science, 2011, vol. 43, issue 2, 248-258

Abstract: An improved method for synthesising the constrained robust model predictive controller is proposed in this study. It constructs a continuum of terminal constraint sets off-line, and achieves robust stability with a variable control horizon on-line from the very beginning and a time-varying terminal constraint set, by solving the min–max optimisation problem, which can be formulated as a linear matrix inequality problem. This algorithm not only dramatically reduces the on-line computation burden, but also guarantees the control performance by reserving at least one free control move in the whole process. Simulation results for the three-tank system with uncertain dynamic behaviour on flux coefficients are given.

Date: 2011
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DOI: 10.1080/00207721.2010.488760

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