Interpolation-based Off-line Robust MPC for Uncertain Polytopic Discrete-time Systems

In this paper, interpolation-based off-line robust MPC for uncertain polytopic discrete-time systems is presented. Instead of solving an on-line optimization problem at each sampling time to find a state feedback gain, a sequence of state feedback gains is pre-computed off-line in order to reduce the on-line computational time. At each sampling time, the real-time state feedback gain is calculated by linear interpolation between the pre-computed state feedback gains. Three interpolation techniques are proposed. In the first technique, the smallest ellipsoids containing the measured state are approximated and the corresponding real-time state feedback gain is calculated. In the second technique, the pre-computed state feedback gains are interpolated in order to get the largest possible real-time state feedback gain while robust stability is still guaranteed. In the last technique, the real-time state feedback gain is calculated by minimizing the violation of the constraints of the adjacent inner ellipsoids so the real-time state feedback gain calculated has to regulate the state from the current ellipsoids to the adjacent inner ellipsoids as fast as possible. As compared to on-line robust MPC, the proposed techniques can significantly reduce on-line computational time while the same level of control performance is still ensured

Robust Constrained Interpolating Control of Interconnected Systems

This paper presents a decentralised interpolating control scheme for the robust constrained control of uncertain linear discrete-time interconnected systems with local state and control constraints. The control law of each distinct subsystem relies on the gentle interpolation between a local high-gain controller with a global low-gain controller. Both controllers benefit from the computation of separable robust invariant sets for local control design, which overcomes the computational burden of large-scale systems. Another advantage is that for each subsystem both low-and high-gain controllers can be efficiently determined off-line, while the inexpensive interpolation between them is performed on-line. For the interpolation, a new low-dimensional linear programming problem is solved at each time instant. Proofs of recursive feasibility and robust asymptotic stability of the proposed control are provided. A numerical example demonstrates the robustness of decentralised interpolating control against model uncertainty and disturbances. The proposed robust control is computationally inexpensive, and thus it is well suited for large-scale applications

An Offline Formulation of MPC for LPV Systems Using Linear Matrix Inequalities

An offline model predictive control (MPC) algorithm for linear parameter varying (LPV) systems is presented. The main contribution is to develop an offline MPC algorithm for LPV systems that can deal with both time-varying scheduling parameter and persistent disturbance. The norm-bounding technique is used to derive an offline MPC algorithm based on the parameter-dependent state feedback control law and the parameter-dependent Lyapunov functions. The online computational time is reduced by solving offline the linear matrix inequality (LMI) optimization problems to find the sequences of explicit state feedback control laws. At each sampling instant, a parameter-dependent state feedback control law is computed by linear interpolation between the precomputed state feedback control laws. The algorithm is illustrated with two examples. The results show that robust stability can be ensured in the presence of both time-varying scheduling parameter and persistent disturbance