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Invariant Sets and Feasibility in Nonlinear Model Predictive Control

An understanding of invariant set theory is essential in the design of controllers for constrained systems, since state and control constraints can be satisfied if and only if the initial state belongs to an invariant set. This paper introduces and discusses various properties of invariant sets. It is shown that seemingly different invariant sets are special cases of the newly-introduced controllable sets, for which a conceptual algorithm is given. The ideas developed in the first part of the paper are applied to the fundamental design goal of guaranteeing feasibility in predictive control. New necessary and sufficient conditions based on the control horizon, prediction horizon and terminal set are given in order to guarantee that the predictive control problem will be feasible for all time, given any feasible initial state.
Type of Seminar:
Public Seminar
Eric Kerrigan BSc.(eng.)
Control Group, Department of Engineering, University of Cambridge Trumpington Street, Cambridge CB2 1PZ, United Kingdom
Aug 22, 2000   10:00

ETL K 25, ETH Zentrum, Physikstrasse 3, 8006 Zurich
Contact Person:

Dr. Alberto Bemporad
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Biographical Sketch:
Eric Kerrigan was born in Alberton, South Africa in 1975. He graduated with a BSc(Eng) in Electrical Engineering from the University of Cape Town in 1996. For a brief period in 1997 he was employed at the Council for Scientific and Industrial Research in Pretoria, South Africa, while working mainly on vibration control and medical signal processing. Since October 1997 he has been with the Control Group at Department of Engineering, University of Cambridge, England. He is a scholar of St John's College and is currently in the process of finishing his PhD thesis. His main research interests are in model predictive control, hybrid systems and fault tolerant control. He is a member of the IEEE, IEE and SAIEE.