Tractable robust MPC design based on nominal predictions
Description
Many popular approaches in the field of robust model predictive control (MPC) are based on nominal predictions. This paper presents a novel formulation of this class of controller with proven input-to-state stability and robust constraint satisfaction. Its advantages are: (i) the design of its main ingredients are tractable for medium to large-sized systems, (ii) the terminal set does not need to be robust with respect to all the possible system uncertainties, but only for a reduced set that can be made arbitrarily small, thus facilitating its design and implementation, (iii) under certain conditions the terminal set can be taken as a positive invariant set of the nominal system, allowing us to use a terminal equality constraint, which facilitates its application to large-scale systems, and (iv) the complexity of its optimization problem is comparable to the non-robust MPC variant. We show numerical closed-loop results of its application to a multivariable chemical plant and compare it against other robust MPC formulations.
Abstract
Ministerio de Ciencia e Innovación - Agencia Estatal de Investigación PID2019-106212 RB-C41
Abstract
Junta de Andalucía - Fondo Europeo de Desarrollo Regional P20_00546
Abstract
Ministerio de Ciencia e Innovación - Agencia Estatal de Investigación PDC2021-121120-C21
Additional details
- URL
- https://idus.us.es/handle//11441/134058
- URN
- urn:oai:idus.us.es:11441/134058
- Origin repository
- USE