Robust Predictive Control with Constraints via l1/H∞ Design

Abstract

A new l1/H∞ technique for the design of robust predictive regulators that account for time-domain constraints is proposed. The controller robustly stabilizes a system where the open-loop plant model is corrupted by unstructured uncertainty, and the output signal is affected by bounded but possibly persistent exogenous disturbances. Adequate nominal performance in the regulation mode is achieved by optimizing an l1 objective that minimizes the worst-case amplification of the disturbance peaks. Robust stability is obtained by satisfying classical frequency-domain conditions through an H∞ problem. The resulting linear predictive regulator design quantifies the attamable limit of performance with respect to the satisfaction of the time-domain constraints.