IMPROVED ROBUSTNESS OF MULTIVARIABLE MODEL PREDICTIVE CONTROL UNDER MODEL UNCERTAINTIES

Cristina Stoica, Pedro Rodríguez-Ayerbe, Didier Dumur

Abstract

This paper presents a state-space methodology for enhancing the robustness of multivariable MPC controlled systems through the convex optimization of a multivariable Youla parameter. The procedure starts with the design of an initial stabilizing Model Predictive Controller in the state-space representation, which is then robustified under modeling errors considered as unstructured uncertainties. The resulting robustified MIMO control law is finally applied to the model of a stirred tank reactor to reduce the impact of measurement noise and modelling errors on the system.

References

  1. Boyd, S., Barratt, C., 1991. Linear controller design. Limits of performance, Prentice Hall.
  2. Boyd, S., Ghaoui, L.El., Feron, E., Balakrishnan, V., 1994. Linear matrix inequalities in system and control theory, SIAM Publications, Philadelphia.
  3. Camacho, E.F., Bordons, C., 2004. Model predictive control, Springer-Verlag. London, 2nd edition.
  4. Clement, B., Duc, G., 2000. A multiobjective control via Youla parameterization and LMI optimization: application to a flexible arm, IFAC Symposium on Robust Control and Design, Prague.
  5. Dumur, D., Boucher, P., 1998. A Review introduction to linear GPC and applications, Journal A, 39(4), pp. 21- 35.
  6. Kouvaritakis, B., Rossiter, J.A., Chang, A.O.T., 1992. Stable generalized predictive control: an algorithm with guaranteed stability, IEE Proceedings-D, 139(4), pp. 349-362.
  7. Maciejowski, J.M., 1989. Multivariable feedback design, Addison-Wesley Publishing Company, Wokingham, England.
  8. Maciejowski, J.M., 2001. Predictive control with constrains, Prentice Hall.
  9. Magni, J.F., 2002. Robust modal control with a toolbox for use with MATLAB, Springer.
  10. Yoon, T.W., Clarke, D.W. 1995. Observer design in receding-horizon predictive control, International Journal of Control, 61(1), pp. 171-191.
Download


Paper Citation


in Harvard Style

Stoica C., Rodríguez-Ayerbe P. and Dumur D. (2007). IMPROVED ROBUSTNESS OF MULTIVARIABLE MODEL PREDICTIVE CONTROL UNDER MODEL UNCERTAINTIES . In Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 3: ICINCO, ISBN 978-972-8865-84-9, pages 283-288. DOI: 10.5220/0001651002830288


in Bibtex Style

@conference{icinco07,
author={Cristina Stoica and Pedro Rodríguez-Ayerbe and Didier Dumur},
title={IMPROVED ROBUSTNESS OF MULTIVARIABLE MODEL PREDICTIVE CONTROL UNDER MODEL UNCERTAINTIES},
booktitle={Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 3: ICINCO,},
year={2007},
pages={283-288},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001651002830288},
isbn={978-972-8865-84-9},
}


in EndNote Style

TY - CONF
JO - Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 3: ICINCO,
TI - IMPROVED ROBUSTNESS OF MULTIVARIABLE MODEL PREDICTIVE CONTROL UNDER MODEL UNCERTAINTIES
SN - 978-972-8865-84-9
AU - Stoica C.
AU - Rodríguez-Ayerbe P.
AU - Dumur D.
PY - 2007
SP - 283
EP - 288
DO - 10.5220/0001651002830288