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This paper presents a methodology for enhancing the robustness of a GPC controlled system by convex optimisation of the Youla parameter. This methodology requires, as a first step, the design of an initial GPC controller; this controller is then robustified considering frequency and temporal constraints. By means of the Youla parametrisation, frequency and temporal constraints are formulated within...
The objective of this study is to design a Nonlinear Model Predictive Controller for a microalgae culture process to regulate the biomass concentration at a chosen setpoint. The optimization problem is discretized and transformed into a nonlinear programming problem, solved by Control Vector Parametrization technique. However, the performances of the NMPC usually decrease when the true plant evolution...
This paper proposes an approach to deal with the problem of robust output feedback model predictive control for linear discrete-time systems subject to state and input constraints, in the presence of unknown but bounded disturbances and measurement noises. The estimation of the states is built using a zonotopic set-membership estimation. This set is time-decreasing and is computed off-line as the...
This paper addresses the position tracking control application of a Stewart-Gough platform using robust generalized predictive control. The robustification of GPC against measurement noise using Youla parameterization is performed. The simulation of the complete model of the Stewart-Gough platform is performed on a circular trajectory. The robustified GPC controller is compared with the classical...
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