Robustified Nonlinear Model Predictive Control via a Min-Max Formulation

@inproceedings{Diehl2006RobustifiedNM,
  title={Robustified Nonlinear Model Predictive Control via a Min-Max Formulation},
  author={Moritz Diehl and Aleksandra Milewska and H. G. Bock},
  year={2006}
}
Nonlinear model predictive control (NMPC) is an appealing control method as it allows to control multi-input multi-output processes while taking constraints into account. It is based on successively solving open-loop optimal control problems. Although NMPC schemes may naturally exhibit a certain degree of inherent robustness, an explicit consideration of process uncertainties is preferable, particularly for processes with increased demands on safety. This is achieved by treating the… CONTINUE READING