Direct relaxation of hard-constraint in Model Predictive Control

@article{Zhao2012DirectRO,
  title={Direct relaxation of hard-constraint in Model Predictive Control},
  author={Kejun Zhao and Xin Lu and Wenzhou Zheng and Chunqing Huang},
  journal={2012 9th International Conference on Fuzzy Systems and Knowledge Discovery},
  year={2012},
  pages={2366-2370}
}
As for MPC controllers, hard-constraint such as constraints on input magnitude or/and rate are generally regarded as an inviolable rule that has to be satisfied strictly before the cost function is optimized at each sampling instant. Such strategy is to result in control conservatism of MPC, as well as infeasibility problem. In this paper, constraint… CONTINUE READING