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Two Level Model Predictive Control for the Maximum Control Invariant Set

Author(s):

P. Grieder, Z. Wan, M. Kothare, M. Morari
Conference/Journal:

American Control Conference, Boston, Massachusetts.
Abstract:

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.

Year:

2004
Type of Publication:

(01)Article
Supervisor:



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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},
    pages={},
    year={2004},
    address={Boston, Massachusetts.},
    month=jun,
    url={http://control.ee.ethz.ch/index.cgi?page=publications;action=details;id=150}
}
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