Abstract
This paper is concerned with the design of stabilizing MPC controllers for constrained linear systems. This is achieved by obtaining a suitable terminal cost and terminal constraint using a saturating control law as local controller. The system controlled by the saturating control law is modeled by a polytopic differential inclusion. Based on this, it is shown how to determine a Lyapunov function and a polyhedral invariant set which can be used as terminal cost and constraint. The obtained invariant set is potentially larger than the maximal invariant set for the unsaturated linear controller, O <inf xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">∞</inf> . Furthermore, considering these elements, a dual-mode MPC is proposed. This controller guarantees the enlargement of the domain of attraction or, equivalently, the reduction of the prediction horizon for a given set of stabilizable initial states. If the local control law is the saturating LQR controller, then the proposed dual-mode MPC controller maintains the local optimality of the standard MPC. An illustrative example is given.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
