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Local Control Lyapunov Functions for Constrained LTI Systems


M. Baric

IfA Internal Seminar Series

A method based on Minkowski algebra of convex bodies for characterization of a family of control Lyapunov functions for constrained linear discrete--time systems is presented. Control Lyapunov functions are induced by parametrized contractive invariant sets. Underlying contractive invariant sets belong to a family of parametrized Minkowski decomposable convex bodies and are parametrized by a basic shape set and linear transformations of system matrices and a set of design matrices. A theoretical framework utilizing principles of Minkowski theory and corresponding computational considerations for the construction/characterization of control Lyapunov functions are provided. Developed framework is used for synthesis of robust model predictive controllers for constrained linear systems.


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