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The first part of this paper studies a specific class of uncertain quadratic and linear programs, where the uncertainty enters the constraints in an affine manner and the uncertainty set is a poly-tope. It is shown that one can convert the resulting semi-infinite optimization problem into a standard QP or LP with a finite number of decision variables and a finite number of constraints. This transformation...
This paper presents a development for the model predictive control (MPC) of nonlinear systems employing the quadratic dissipativity constraint (QDC). In this QDC strategy for nonlinear input-affine systems, a compound output vector is engaged to the supply rate such that the stability condition based on linear matrix inequality (LMI) can be rendered for nonlinear systems. The compound vector shares...
A constrained model predictive control technique for tracking is proposed for systems whose models become uncertain (for example after a sensor failure). A linear time invariant robust controller with integral action is used as a baseline and “reverse engineered” into the form of a reduced order observer, steady state target calculator and control gain, based on a nominal model, augmented with integrating...
This paper develops a technique for improving the region of attraction of a robust variable horizon model predictive controller. It considers a constrained discrete-time linear system acted upon by a bounded, but unknown time-varying state disturbance. Using constraint tightening for robustness, it is shown how the tightening policy, parameterised as direct feedback on the disturbance, can be optimised...
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