Design of robust model predictive control with input constraints |
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Authors: | Quang Thuan Nguyen Vojtech Veselý Danica Rosinová |
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Affiliation: | 1. Faculty of Electrical Engineering and Information Technology , Institute of Control and Industrial Informatics, Slovak University of Technology , Ilkovi?ova 3 , 812 19 Bratislava , Slovak Republic thuan.quang@stuba.sk;3. Faculty of Electrical Engineering and Information Technology , Institute of Control and Industrial Informatics, Slovak University of Technology , Ilkovi?ova 3 , 812 19 Bratislava , Slovak Republic |
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Abstract: | This article addresses the problem of designing a robust output feedback model predictive control (MPC) with input constraints, which ensures a parameter-dependent quadratic stability and guaranteed cost for the case of linear polytopic systems. A new heuristic method is introduced to guarantee input constraints for the MPC. To reject disturbances and maintain the process at the optimal operating conditions or setpoints, the integrator is added to the controller design procedure. Finally, some numerical examples are given to illustrate the effectiveness of the proposed method. |
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Keywords: | robust model predictive control polytopic system parameter-dependent quadratic stability Lyapunov functional |
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