The synthesis of robust model predictive control with QP formulation
by Dewei Li, Yugeng Xi
International Journal of Modelling, Identification and Control (IJMIC), Vol. 13, No. 1/2, 2011

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.

Online publication date: Sat, 21-Mar-2015

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