Constrained Control of Uncertain, Time-varying Linear Discrete-Time Systems Subject to Bounded Disturbances

The aim of this technical note is twofold. In the first part, robust invariance for ellipsoidal sets with respect to uncertain and/or time-varying linear discrete-time systems with bounded additive disturbances is revisited. We provide an extension of an existing invariance condition. In the second...

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Bibliographic Details
Published inIEEE transactions on automatic control Vol. 60; no. 3; pp. 831 - 836
Main Authors Nguyen, H.-N, Olaru, S., Gutman, P.-O, Hovd, M.
Format Journal Article
LanguageEnglish
Published IEEE 01.03.2015
Institute of Electrical and Electronics Engineers
Subjects
Automatic
Cost function
Ellipsoids
Engineering Sciences
Interpolation
Robustness
Time-varying systems
Trajectory
Vectors
Uncertain systems
Quadratic programming
Optimal control
Predictive control
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Summary:The aim of this technical note is twofold. In the first part, robust invariance for ellipsoidal sets with respect to uncertain and/or time-varying linear discrete-time systems with bounded additive disturbances is revisited. We provide an extension of an existing invariance condition. In the second part a novel robust interpolation based control design involving several local unconstrained robust optimal controls is proposed. At each time instant a quadratic programming problem is solved on-line. Proofs of recursive feasibility and input-to-state stability are given.
ISSN:0018-9286
1558-2523
DOI:10.1109/TAC.2014.2346872