Abstract

A stabilizing model predictive control (MPC) strategy is proposed for linear systems with input saturation. A saturated linear feedback controller is selected as the local stabilizing controller. The terminal constraint set and terminal cost function can be computed by solving a corresponding semi-definite programming (SDP) problem. Then the control action is obtained by solving a second order cone programming (SOCP) problem on-line. Feasibility of SOCP problem implies the stability of the closed-loop system. Simulation shows that the proposed algorithm has a larger region of attraction than existed stabilizing MPC algorithms

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