Article
Tractable robust MPC design based on nominal predictions
Author/s | Alvarado Aldea, Ignacio
Krupa García, Pablo Limón Marruedo, Daniel Alamo, Teodoro |
Department | Universidad de Sevilla. Departamento de Ingeniería de Sistemas y Automática |
Publication Date | 2022-02 |
Deposit Date | 2022-06-06 |
Published in |
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Abstract | Many popular approaches in the field of robust model predictive control (MPC) are based on nominal predictions. This paper presents a novel formulation of this class of controller with proven input-to-state stability and ... Many popular approaches in the field of robust model predictive control (MPC) are based on nominal predictions. This paper presents a novel formulation of this class of controller with proven input-to-state stability and robust constraint satisfaction. Its advantages are: (i) the design of its main ingredients are tractable for medium to large-sized systems, (ii) the terminal set does not need to be robust with respect to all the possible system uncertainties, but only for a reduced set that can be made arbitrarily small, thus facilitating its design and implementation, (iii) under certain conditions the terminal set can be taken as a positive invariant set of the nominal system, allowing us to use a terminal equality constraint, which facilitates its application to large-scale systems, and (iv) the complexity of its optimization problem is comparable to the non-robust MPC variant. We show numerical closed-loop results of its application to a multivariable chemical plant and compare it against other robust MPC formulations. |
Project ID. | PID2019-106212 RB-C41
P20_00546 PDC2021-121120-C21 |
Citation | Alvarado Aldea, I., Krupa García, P., Limón Marruedo, D. y Alamo, T. (2022). Tractable robust MPC design based on nominal predictions. Journal of Process Control, 111, 75-85. |
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