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Min-max Control of Constrained Uncertain Discrete-Time Linear Systems

Author(s):

A. Bemporad, F. Borrelli, M. Morari
Conference/Journal:

IEEE Transactions on Automatic Control, vol. 48, no. 9, pp. 1600-1606
Abstract:

For discrete-time uncertain linear systems with constraints on inputs and states, we develop an approach to determine state feedback controllers based on a min–max control formulation. Robustness is achieved against additive norm-bounded input disturbances and/or polyhedral parametric uncertainties in the state-space matrices. We show that the finite-horizon robust optimal control law is a continuous piecewise affine function of the state vector and can be calculated by solving a sequence of multiparametric linear programs. When the optimal control law is implemented in a receding horizon scheme, only a piecewise affine function needs to be evaluated on line at each time step. The technique computes the robust optimal feedback controller for a rather general class of systems with modest computational effort without needing to resort to gridding of the state–space.

Year:

2003
Type of Publication:

(01)Article
Supervisor:



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% Autogenerated BibTeX entry
@Article { BemBor:2003:IFA_213,
    author={A. Bemporad and F. Borrelli and M. Morari},
    title={{Min-max Control of Constrained Uncertain Discrete-Time
	  Linear Systems}},
    journal={IEEE Transactions on Automatic Control},
    year={2003},
    volume={48},
    number={9},
    pages={1600--1606},
    month=sep,
    url={http://control.ee.ethz.ch/index.cgi?page=publications;action=details;id=213}
}
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