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

@article{Chen2021SystemLS, 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}, journal={ArXiv}, year={2021}, volume={abs/2111.05509} }

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…

## 8 Citations

### Robust Model Predictive Control of Time-Delay Systems through System Level Synthesis

- MathematicsArXiv
- 2022

We present a robust model predictive control method (MPC) for discrete-time linear time-delayed systems with state and control input constraints. The system is subject to both polytopic model…

### Robust Model Predictive Control with Polytopic Model Uncertainty through System Level Synthesis

- EngineeringArXiv
- 2022

We propose a novel method for robust model predictive control (MPC) of uncertain systems subject to both polytopic model uncertainty and additive disturbances. In our method, we over-approximate the…

### A Convex Optimization Approach for Control of Linear Quadratic Systems with Multiplicative Noise via System Level Synthesis

- Computer Science
- 2022

A convex optimization-based solution to the design of state-feedback controllers for solving the linear quadratic regulator (LQR) problem of uncertain discrete-time systems with multiplicative noise is presented.

### Data-driven Robust LQR with Multiplicative Noise via System Level Synthesis

- MathematicsArXiv
- 2022

—This paper aims to develop a data-driven method for solving the closed-loop state-feedback control of a discrete-time LQR problem for systems affected by multiplicative norm bounded model…

### Generalised Regret Optimal Controller Synthesis for Constrained Systems

- Computer ScienceArXiv
- 2022

A synthesis method is presented for the generalised dynamic regret problem, comparing the performance of a strictly causal controller to the optimal non-causal controller under a weighted disturbance and shows that the optimal solution is no worse than the bounded energy optimal solution and is lower bounded by a constant factor, which is only dependent on the disturbance weight.

### A System Level Approach to Regret Optimal Control

- Computer Science, MathematicsIEEE Control Systems Letters
- 2022

An optimisation-based method for synthesising a dynamic regret optimal controller for linear systems with potentially adversarial disturbances and known or adversarial initial conditions is presented and the proposed framework allows guaranteeing state and input constraint satisfaction.

### Online Stabilization of Unknown Networked Systems with Communication Constraints

- Computer ScienceArXiv
- 2022

This work proposes the first provably stabilizing algorithm, which uses a distributed version of nested convex body chasing to maintain a consistent estimate of the network dynamics and applies system level synthesis to determine a distributed controller based on this estimated model.

### Predictive safety filter using system level synthesis

- Engineering
- 2022

Safety filters provide modular techniques to augment possibly unsafe control inputs (e.g. from learning-based controllers or humans) with safety guarantees in the form of constraint satisfaction. In…

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