Robustification of model predictive control

A general procedure leading to an enhancement of robustness of existing model predictive control techniques is proposed. This procedure, which considers additive modeling errors, is illustrated for the case of cautious stable predictive control. The basic idea is the augmentation of the cost functio...

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Bibliographic Details
Published inProceedings of the 39th IEEE Conference on Decision and Control (Cat. No.00CH37187) Vol. 1; pp. 178 - 180 vol.1
Main Authors Quevedo, D.E., Salgado, M.E.
Format Conference Proceeding
LanguageEnglish
Published IEEE 2000
Subjects
Cost function
Error correction
Open loop systems
Predictive control
Predictive models
Robust control
Robustness
Stability
Transfer functions
Uncertainty
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Summary:A general procedure leading to an enhancement of robustness of existing model predictive control techniques is proposed. This procedure, which considers additive modeling errors, is illustrated for the case of cautious stable predictive control. The basic idea is the augmentation of the cost function with an additional term related to a description of the nominal model uncertainty, leading either to a minimization or to a min-max optimization problem, depending on the class of error description being used.
ISBN:0780366387
9780780366381
ISSN:0191-2216
DOI:10.1109/CDC.2000.912753