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Robust Receding Horizon Control - Analysis & Synthesis

Author(s):

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

IEEE Conference on Decision and Control, Maui, Hawaii, pp. 941-946
Abstract:

In this paper, a combined {em Receding Horizon Control} (RHC) analysis and synthesis technique for constrained linear time-invariant systems subject to polytopic or additive uncertainty is introduced. The proposed method consists of two components. First, the maximum robust control invariant set $Cinf$ is computed along with the associated piece-wise affine (PWA) state feedback law. This computation is based on an iterative solution of {em multi-parametric Quadratic Programs} (mp-QP). Second, the obtained PWA feedback law is analyzed for robust stability. This analysis is based on linear matrix inequalities (LMI). The combination of these two components guarantees robust stability and constraint satisfaction for all time. The resulting PWA state feedback controller is of very low complexity.

Year:

2003
Type of Publication:

(01)Article
Supervisor:



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% Autogenerated BibTeX entry
@InProceedings { GriPar:2003:IFA_304,
    author={P. Grieder and P.A. Parrilo and M. Morari},
    title={{Robust Receding Horizon Control - Analysis \& Synthesis}},
    booktitle={IEEE Conference on Decision and Control},
    pages={941--946},
    year={2003},
    address={Maui, Hawaii},
    month=dec,
    url={http://control.ee.ethz.ch/index.cgi?page=publications;action=details;id=304}
}
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