Abstract
ABSTRACTThis paper presents a new methodology to design a closed loop model predictive control (CLMPC) using polyhedral invariant sets. This methodology gives a simple solution to this type of control, ensuring stability and respecting non-symmetrical constraints on control magnitudes, as well as moving in both modes of operation of the dual controller. The proposed algorithm takes advantage of the design of the state feedback control law in the CLMPC to increase the degrees of freedom, in contrast to other CLMPC approaches. In order to design the controller so that it respects constraints on both control magnitudes and its increments, necessary and sufficient conditions for asymptotic stability at the origin have been developed for linear systems. The controller is applied to an illustrative linear example and the activated sludge process in a wastewater treatment plant, showing the efficiency of the proposal.
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