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Robust Receding Horizon Control Based on LMI Analysis

Author(s):

P. Grieder, P.A. Parrilo, M. Morari
Conference/Journal:

vol. AUT02-15
Abstract:

In this paper, novel receding horizon control (RHC) analysis and synthesis techniques for linear time-invariant (LTI) systems are introduced. Algorithms which allow for the computation of the maximum robust control invariant set and the associated piece-wise affine feedback law are presented. In addition, analysis techniques which allow for a test of robust Lyapunov stability are given. The methods which can be applied to any LTI system yield robust feedback controllers of very low complexity. The types of uncertainty covered are parametric and polytopic additive uncertainty. The proposed techniques consist of separate identification of the robust invariant set and a Lyapunov function. The combination of the two methods guarantees robust stability and infinite-time feasibility.

Year:

2002
Type of Publication:

(04)Technical Report
Supervisor:



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% Autogenerated BibTeX entry
@TechReport { GriPar:2002:IFA_272,
    author={P. Grieder and P.A. Parrilo and M. Morari},
    title={{Robust Receding Horizon Control Based on LMI Analysis}},
    institution={},
    year={2002},
    number={},
    address={},
    month=nov,
    url={http://control.ee.ethz.ch/index.cgi?page=publications;action=details;id=272}
}
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