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Reducing conservativeness in predictive control of constrained systems with disturbances


A. Bemporad

IEEE Conference on Decision and Control, Tampa, Florida, USA, pp. 1384-1391

Predictive controllers which are able to guarantee constraint fulfillment in the presence of input disturbances, typically based on min-max formulations, often suffer excessive conservativeness. One of the main reasons for this is that the control action is based on the {em open-loop} prediction of the evolution of the system, because the uncertainty due to the disturbance grows as time proceeds on the prediction horizon. On the other hand, such an effect can be moderated by adopting a {em closed-loop} prediction. In this paper, closed-loop prediction is achieved by including a free feedback matrix gain in the set of optimization variables. This allows to well balance computational burden and reduction of conservativeness.


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% Autogenerated BibTeX entry
@InProceedings { Xxx:1998:IFA_411,
    author={A. Bemporad},
    title={{Reducing conservativeness in predictive control of
	  constrained systems with disturbances}},
    booktitle={IEEE Conference on Decision and Control},
    address={Tampa, Florida, USA},
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