TY - JOUR
T1 - Robust explicit model predictive control via regular piecewise-affine approximation
AU - Rubagotti, Matteo
AU - Barcelli, Davide
AU - Bemporad, Alberto
N1 - Funding Information:
This work was partially supported by the European Commission under project ‘MOBY-DIC – model-based synthesis of digital electronic circuits for embedded control’ [grant number FP7-INFSO-ICT-248858] (http://www.mobydic-project.eu/).
Publisher Copyright:
© 2014 Taylor & Francis.
PY - 2014/12/1
Y1 - 2014/12/1
N2 - This paper proposes an explicit model predictive control design approach for regulation of linear time-invariant systems subject to both state and control constraints, in the presence of additive disturbances. The proposed control law is implemented as a piecewise-affine function defined on a regular simplicial partition, and has two main positive features. First, the regularity of the simplicial partition allows one to efficiently implement the control law on digital circuits, thus achieving extremely fast computation times. Moreover, the asymptotic stability (or the convergence to a set including the origin) of the closed-loop system can be enforced a priori, rather than checked a posteriori via Lyapunov analysis.
AB - This paper proposes an explicit model predictive control design approach for regulation of linear time-invariant systems subject to both state and control constraints, in the presence of additive disturbances. The proposed control law is implemented as a piecewise-affine function defined on a regular simplicial partition, and has two main positive features. First, the regularity of the simplicial partition allows one to efficiently implement the control law on digital circuits, thus achieving extremely fast computation times. Moreover, the asymptotic stability (or the convergence to a set including the origin) of the closed-loop system can be enforced a priori, rather than checked a posteriori via Lyapunov analysis.
KW - model predictive control
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U2 - 10.1080/00207179.2014.935958
DO - 10.1080/00207179.2014.935958
M3 - Article
AN - SCOPUS:84907711843
SN - 0020-7179
VL - 87
SP - 2583
EP - 2593
JO - International Journal of Control
JF - International Journal of Control
IS - 12
ER -