Title: The synthesis of robust model predictive control with QP formulation

Authors: Dewei Li, Yugeng Xi

Addresses: Department of Automation, Shanghai Jiao Tong University, Shanghai, China; Key Laboratory of System Control and Information Processing, Ministry of Education of China, 800 Dongchuan Road, Shanghai, 200240, China. ' Department of Automation, Shanghai Jiao Tong University, Shanghai, China; Key Laboratory of System Control and Information Processing, Ministry of Education of China, 800 Dongchuan Road, Shanghai, 200240, China

Abstract: For uncertain systems with polytopic description, two synthesis approaches of closed-loop robust model predictive control (CRMPC) are proposed. The proposed CRMPC controllers are formulated as a quadratic programming (QP) problem to reduce the online computational burden. By adopting the dual-mode control and extending the interpolation method, the time-varying terminal set is introduced into CRMPC with QP formulation. Meanwhile, the tighter upper bound of control performance is utilised. Due to these two factors, the proposed CRMPC can achieve large attractive region and improved control performance with low online computational burden.

Keywords: robust model predictive control; quadratic programming; extended interpolation; optimal controller synthesis; uncertainties; optimisation.

DOI: 10.1504/IJMIC.2011.040484

International Journal of Modelling, Identification and Control, 2011 Vol.13 No.1/2, pp.1 - 8

Published online: 31 May 2011 *

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