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Explicit MPC for systems with linear parameter-varying state transition matrix


Th. Besselmann, J. Löfberg, M. Morari

IFAC World Congress, Seoul, Korea, pp. 13163-13168

In this paper we propose a closed-loop min-max MPC algorithm based on dynamic programming, to compute explicit control laws for systems with a linear parameter-varying state transition matrix. This enables the controller to exploit parameter information to improve performance compared to a standard robust approach where no uncertainty knowledge is used, while keeping the benefits of fast online computations. The off-line computational burden is similar to what is required for computing explicit control laws for uncertain or nominal LTI systems. The proposed control strategy is applied to the controlled H´enon map to draw a comparison, in terms of complexity and control performance, with a controller based on a piecewise affine approximation.


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M. Morari

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% Autogenerated BibTeX entry
@InProceedings { BesL_f:2008:IFA_3033,
    author={Th. Besselmann and J. L{\"o}fberg and M. Morari},
    title={{Explicit MPC for systems with linear parameter-varying
	  state transition matrix}},
    booktitle={IFAC World Congress},
    address={Seoul, Korea},
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