A Stabilizing MPC Algorithm using Performance Bounds from Saturated Linear Feedback
2001 (English)Report (Other academic)
We present a method to increase feasibility in MPC algorithms that use ellipsoidal terminal state constraints and performance bounds from nominal controllers. The method is based on estimating a bound on the achievable performance with a saturated nominal controller and using this bound in the MPC algorithm. The resulting MPC controller can be implemented efficiently with Second Order Cone Programming.
Place, publisher, year, edition, pages
Linköping: Linköping University Electronic Press, 2001. , 8 p.
LiTH-ISY-R, ISSN 1400-3902 ; 2327
MPC, Stability, LMI
IdentifiersURN: urn:nbn:se:liu:diva-55772ISRN: LiTH-ISY-R-2327OAI: oai:DiVA.org:liu-55772DiVA: diva2:316559