An improved constrained robust model predictive control algorithm for linear systems with polytopic uncertainty

@article{Li2008AnIC,
  title={An improved constrained robust model predictive control algorithm for linear systems with polytopic uncertainty},
  author={Zhijun Li and Yuntao Shi and Dehui Sun and Lifeng Wang},
  journal={2008 IEEE/ASME International Conference on Advanced Intelligent Mechatronics},
  year={2008},
  pages={1272-1277}
}
A constrained robust model predictive control algorithm for linear systems with polytopic uncertainty is presented in this paper. At each sample time the algorithm aims at minimizing an infinite horizon worst-case quadratic cost function. Compared with existed techniques, the proposed algorithm uses a sequence of slack inequalities to construct a tighter upper bound of robust cost function. A control structure with two linear state feedback controllers feeding the system alternatively is… CONTINUE READING