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Computation of Invariant Sets for Piecewise Affine Discrete Time Systems subject to Bounded Disturbances

 Author(s):S. Rakovic, P. Grieder, M. Kvasnica, D. Mayne, M. Morari Conference/Journal:IEEE Conference on Decision and Control, Bahamas, pp. 1418-1423 Abstract:Piecewise affine (PWA) systems are useful models for describing non-linear and hybrid systems. One of the key problems in designing controllers for these systems is the inherent computational complexity of controller synthesis and analysis. These problems are amplified in the presence of state and input constraints and additive but bounded disturbances. In this paper we exploit \emph{set invariance} and \emph{parametric programming} to devise an efficient robust time optimal control scheme. Specifically, the state is driven into the maximal robust invariant set $\Oinf$ in minimum time. We show how to compute $\Oinf$ and derive conditions for finite time computation. Year:2004 Type of Publication: (01)Article Supervisor: File Download: Request a copy of this publication. (Uses JavaScript) % Autogenerated BibTeX entry @InProceedings { RakEtal:2004:IFA_1868, author={S. Rakovic and P. Grieder and M. Kvasnica and D. Mayne and M. Morari}, title={{Computation of Invariant Sets for Piecewise Affine Discrete Time Systems subject to Bounded Disturbances}}, booktitle={IEEE Conference on Decision and Control}, pages={}, year={2004}, address={Bahamas}, month=dec, url={http://control.ee.ethz.ch/index.cgi?page=publications;action=details;id=1868} } Permanent link

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