Implicit improved vertex control for uncertain,time-varying linear discrete-time systems with state and control constraints |
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Authors: | Hoai-Nam Nguyen Per-Olof Gutman Sorin Olaru Morten Hovd |
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Affiliation: | 1. Faculty of Civil and Environmental Engineering, Technion - Israel Institute of Technology, Israel;2. SUPELEC Systems Sciences (E3S) - Automatic Control Department, France;3. Department of Engineering Cybernetics, Norwegian University of Science and Technology, Norway |
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Abstract: | The problem of regulating an uncertain and/or time-varying linear discrete-time system with state and control constraints to the origin is addressed. It is shown that feasibility and a robustly asymptotically stable closed loop can be achieved using an interpolation technique. The design method can be seen as an alternative to optimization-based control schemes such as Robust Model Predictive Control. Especially for problems requiring complex calculations to find the optimal solution, the present method can provide a straightforward suboptimal solution. A simulation demonstrates the performance of this class of constrained controllers. |
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Keywords: | Vertex control Invariant sets Uncertain systems Linear programming Constrained control |
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