Article
Improved MPC Design based on Saturating Control Laws
dc.creator | Limón Marruedo, Daniel | es |
dc.creator | Gomesda Silva, J.M. | es |
dc.creator | Alamo, Teodoro | es |
dc.creator | Camacho, Eduardo F. | es |
dc.date.accessioned | 2020-03-12T16:08:58Z | |
dc.date.available | 2020-03-12T16:08:58Z | |
dc.date.issued | 2005 | |
dc.identifier.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. | |
dc.identifier.issn | 0947-3580 | es |
dc.identifier.uri | https://hdl.handle.net/11441/94148 | |
dc.description.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 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. | es |
dc.format | application/pdf | es |
dc.format.extent | 11 p, | es |
dc.language.iso | eng | es |
dc.publisher | Elsevier | es |
dc.relation.ispartof | European Journal Of Control, 11 (2), 112-122. | |
dc.rights | Attribution-NonCommercial-NoDerivatives 4.0 Internacional | * |
dc.rights.uri | http://creativecommons.org/licenses/by-nc-nd/4.0/ | * |
dc.subject | Constrained Control | es |
dc.subject | Control Saturation | es |
dc.subject | Domain of Attraction | es |
dc.title | Improved MPC Design based on Saturating Control Laws | es |
dc.type | info:eu-repo/semantics/article | es |
dcterms.identifier | https://ror.org/03yxnpp24 | |
dc.type.version | info:eu-repo/semantics/submittedVersion | es |
dc.rights.accessRights | info:eu-repo/semantics/openAccess | es |
dc.contributor.affiliation | Universidad de Sevilla. Departamento de Ingeniería de Sistemas y Automática | es |
dc.relation.publisherversion | https://www.sciencedirect.com/science/article/pii/S0947358005704386 | es |
dc.identifier.doi | 10.3166/ejc.11.112-122 | es |
dc.journaltitle | European Journal Of Control | es |
dc.publication.volumen | 11 | es |
dc.publication.issue | 2 | es |
dc.publication.initialPage | 112 | es |
dc.publication.endPage | 122 | es |
dc.identifier.sisius | 6634390 | es |