Abstract
This paper addresses predictive state regulation of linear discrete-time systems subject to bounded disturbances and to state/control constraints. The combination of constraints and disturbances can drive a predictive controller to infeasibility and instability. It is shown here how robustness against persistent bounded disturbances can be ensured by adding to the nominal predictive controller a suitable polytopic invariance constraint. The proposed algorithm allows, with a small increase of computational load, to enlarge the feasibility region with respect to existing techniques based on restricted constraints. Simulation experiments confirm the validity of the proposed algorithm.
Published Version
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