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In this paper we develop an algorithm for robust model predictive control for Multi-Inputs Multi-Outputs systems represented by the Generalized Orthonormal Basis Functions. A min-max optimization problem is reformulated and resolved by introducing techniques of Linear Matrix Inequalities where the constraints interest the parameter uncertainties of the resultant model coefficients and the measurement...
This paper investigates a robust model predictive control approach for a nonlinear aerodynamic test rig, a twin rotor multi-input-multi-output system (TRMS). A highly nonlinear dynamic model of the system has been used to design the robust controller. According to the nonlinear model a polytopic model has been developed considering the nonlinearities and uncertainties of the plant. To this end, a...
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