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In this paper two model predictive control (MPC) approaches, an on-line and an off-line MPC approach, for constrained uncertain continuous-time systems with piecewise constant control input are presented. Both MPC approaches guarantee robust asymptotic stability by taking into account the hybrid dynamics of the closed-loop system, resulting from the continuous-time system dynamics and the discrete-time...
We consider the Lscr2-gain of nonlinear Port-Hamiltonian systems. Using the Hamiltonian and an additional scaling matrix, we show that an upper bound on the Lscr2-gain can be computed by solving a matrix inequality. The Lscr2-gain is typically used in combination with the small-gain theorem. In particular it can be used to guarantee robust stability with respect to gain-bounded model uncertainties...
This paper provides a novel solution to the problem of robust output feedback model predictive control of constrained, linear, discrete-time systems in the presence of additive but bounded state and output disturbances. The overall controller consists of two components, a stable state estimator and a tube based, robustly stabilizing model predictive controller. The proposed robust output-feedback...
This paper presents a computational approach for analyzing the robust linfin-gain (or the robust l1 performance) of uncertain linear systems with parametric uncertainties. The method considers the class of systems where the state-space matrices may have a rational dependence on structured parametric time-invariant or time-varying uncertainties. The computation is based on robust semi-definite programming...
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