Article
Improved MPC Design based on Saturating Control Laws
Author/s | Limón Marruedo, Daniel
Gomesda Silva, J.M. Alamo, Teodoro Camacho, Eduardo F. |
Department | Universidad de Sevilla. Departamento de Ingeniería de Sistemas y Automática |
Publication Date | 2005 |
Deposit Date | 2020-03-12 |
Published in |
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Abstract | This paper is concerned with the design of stabilizing model predictive control (MPC) laws for constrained linear systems. This is achieved by obtaining a suitable terminal cost and terminal constraint using a saturating ... This paper is concerned with the design of stabilizing model predictive control (MPC) laws for constrained linear systems. This is achieved by obtaining a suitable terminal cost and terminal constraint using a saturating control law as local controller. The system controlled by the saturating control law is modelled by a linear difference inclusion. Based on this, it is shown how to determine a Lyapunov function and a polyhedral invariant set which can be used as terminal cost and constraint. The obtained invariant set is potentially larger than the maximal invariant set for the unsaturated linear controller, O∞. Furthermore, considering these elements, a simple dual MPC strategy is proposed. This dual-mode controller guarantees the enlargement of the domain of attraction or, equivalently, the reduction of the prediction horizon for a given initial state. If the local control law is the saturating linear quadratic regulator (LQR) controller, then the proposed dual-mode MPC controller retains the local infinite-horizon optimality. Finally, an illustrative example is given. |
Citation | Limón Marruedo, D., Gomesda Silva, J.M., Álamo, T. y Fernández Camacho, E. (2005). Improved MPC Design based on Saturating Control Laws. European Journal Of Control, 11 (2), 112-122. |