Dilated model predictive control strategy for linear parameter-varying systems with a time-varying terminal set

Abstract

We propose a model predictive control (MPC) strategy for input-saturated polytopic linear parameter-varying (LPV) discrete-time systems. Under the hypothesis that the plant parameter is measurable at each time instant, a dilation technique and parameter time-varying Lyapunov functions are exploited to reduce the conservativeness of pre-existing robust MPC paradigms. The contribution of this paper is to extend the MPC scheme presented in (Casavola et al. 2006) to the general case of control horizons of arbitrary length N, by considering the terminal constraint set to be time-varying. Feasibility and closed-loop stability of this strategy are proved and a final numerical example presented in order to show performance improvements with respect to pre-existing techniques.