On disturbance attenuation of nonlinear moving horizon control

Abstract

This paper addresses the disturbance attenuation problem in nonlinear moving horizon control. Conceptually a minimax formulation with a general dis-sipation constraint is suggested and theoretical results on closed-loop dissipation, L2 disturbance attenuation and stability are discussed. The implementation issue is attacked with respect to tracking a reference trajectory in the presence of external disturbances and control constraints, and a computationally tractable algorithm is given in the framework of LMI optimization. Simulation and comparisons of setpoint tracking control of a CSTR are presented.

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