• Corpus ID: 243938688

System Level Synthesis-based Robust Model Predictive Control through Convex Inner Approximation

  title={System Level Synthesis-based Robust Model Predictive Control through Convex Inner Approximation},
  author={Shaoru Chen and N. Matni and Manfred Morari and Victor M. Preciado},
We propose a robust model predictive control (MPC) method for discrete-time linear timeinvariant systems with norm-bounded additive disturbances and model uncertainty. In our method, at each time step we solve a finite time robust optimal control problem (OCP) which jointly searches over robust linear state feedback controllers and bounds the deviation of the system states from the nominal predicted trajectory. By leveraging the System Level Synthesis (SLS) framework, the proposed robust OCP is… 

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