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Although stability guarantees are available for predictive controllers, closed-loop instability may arise due to system uncertainty. The T-design and the Q-parametrisation methods are often used to enhance the robustness of predictive controllers. The former is heuristic, whereas optimisation rules exist for the latter, which makes it systematic. However, the T-design tends to producing larger robustness...
Two robust model predictive controllers based on input/output models and an infinite prediction horizon are formulated and compared. The infinite horizon Generalised Predictive Control (GPC∞), which guarantees the stability of the nominal closed-loop system, is combined with a global uncertainty description and an uncertainty band updating procedure to obtain robust MPC schemes which can be used even...
In this paper a quasi-infinite horizon 1-norm GPC is presented. This controller, combined with a global uncertainty description and an uncertainty band-updating procedure, has led to a robust algorithm with extremely low computational requirements. Only a linear programming (LP) problem needs to be solved to compute a control profile. This scheme can be successfully applied even to hard non-linear...
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