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Two Level Model Predictive Control for the Maximum Control Invariant Set


P. Grieder, Z. Wan, M. Kothare, M. Morari

American Control Conference, Boston, Massachusetts.

This paper presents an extension of the Two-Level Model Predictive Control (MPC) scheme presented in cite{WK03}. The procedure in cite{WK03} allowed for computationally efficient MPC over a subset of the controllable state-space. The first controller level provided a stability guarantee and the second level optimized performance. This two-level control scheme allows for a transparent tradeoff between the necessary computation power and performance. However, the scheme also suffered from two drawbacks. The two-level controller cite{WK03} did not cover all controllable states and in order to guarantee constraint satisfaction in closed-loop, it was necessary to resort to open-loop control for certain initial states. These issues will be dealt with in this paper. We will extend the procedure such that the controller covers the infinite time controllable set $Kinf(XI)$ with closed-loop stability and feasibility guarantee. The set $Kinf(XI)$ denotes all states which may be driven to the set $XI$ by an admissible control law.


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% Autogenerated BibTeX entry
@InProceedings { GriEtal:2004:IFA_150,
    author={P. Grieder and Z. Wan and M. Kothare and M. Morari},
    title={{Two Level Model Predictive Control for the Maximum Control
	  Invariant Set}},
    booktitle={American Control Conference},
    address={Boston, Massachusetts.},
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