Robust model predictive control for multirate systems with model uncertainties and circular scheduling

Abstract

SummaryIn this article, the robust model predictive control (RMPC) problem on the basis of output feedback (OF) is dealt with for a class of multirate time‐varying systems with polyhedral uncertainties and limited‐bandwidth channels. For alleviating the communication burden caused by the limited transmission capacity, the Round‐Robin (RR) protocol is exploited to allocate transmission permissions in a pre‐scheduled order. Meanwhile, in order to reduce the communication cost while ensuring the system performance, the multirate mechanism is presented to govern the update rate of the plant and the sampling rate of the sensors. By means of the lifting technique, given a uniform sampling rate, a comprehensive augmentation system is established on the fixed moving horizon. The objective of the addressed RMPC problem is to design a set of OF‐based RMPC controllers such that, in the presence of the multirate scheme and the RR transmission protocol, the desirable performance is guaranteed. Then, the desired RMPC gains are directly obtained, with the help of inequality analysis technique and RR‐dependent Lyapunov‐like approach, to ensure the asymptotic convergence of system states. Two illustrative examples are given, which include a DC motor system and a numerical simulation example, to demonstrate the effectiveness of the proposed protocol‐based RMPC controller design strategy.