OFF-LINE ROBUSTIFICATION OF PREDICTIVE CONTROL FOR UNCERTAIN SYSTEMS - A Sub-optimal Tractable Solution

Cristina Stoica, Pedro Rodríguez-Ayerbe, Didier Dumur

Abstract

An off-line technique enabling to robustify an initial Model Predictive Control (MPC) for multivariable systems via the convex optimization of a Youla parameter is presented. Firstly, a multivariable predictive controller is designed for a nominal system and then robustified towards unstructured uncertainties, while guaranteeing stability properties over a specified polytopic domain of uncertainties. This condition leads to verify a Bilinear Matrix Inequality (BMI) for each vertex of the polytopic domain. This BMI can be mathematically relaxed to semi-definite programming (SDP) using a Sum of Squares (SOS) strategy, with a significant increase of the number of scalar decision variables. To overcome this inconvenient, an alternative tractable sub-optimal solution for the BMI is proposed, based on the elaboration of a stable solution obtained by minimization of the complementary sensitivity function.

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Paper Citation


in Harvard Style

Stoica C., Rodríguez-Ayerbe P. and Dumur D. (2008). OFF-LINE ROBUSTIFICATION OF PREDICTIVE CONTROL FOR UNCERTAIN SYSTEMS - A Sub-optimal Tractable Solution . In Proceedings of the Fifth International Conference on Informatics in Control, Automation and Robotics - Volume 3: ICINCO, ISBN 978-989-8111-32-6, pages 264-268. DOI: 10.5220/0001496302640268


in Bibtex Style

@conference{icinco08,
author={Cristina Stoica and Pedro Rodríguez-Ayerbe and Didier Dumur},
title={OFF-LINE ROBUSTIFICATION OF PREDICTIVE CONTROL FOR UNCERTAIN SYSTEMS - A Sub-optimal Tractable Solution},
booktitle={Proceedings of the Fifth International Conference on Informatics in Control, Automation and Robotics - Volume 3: ICINCO,},
year={2008},
pages={264-268},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001496302640268},
isbn={978-989-8111-32-6},
}


in EndNote Style

TY - CONF
JO - Proceedings of the Fifth International Conference on Informatics in Control, Automation and Robotics - Volume 3: ICINCO,
TI - OFF-LINE ROBUSTIFICATION OF PREDICTIVE CONTROL FOR UNCERTAIN SYSTEMS - A Sub-optimal Tractable Solution
SN - 978-989-8111-32-6
AU - Stoica C.
AU - Rodríguez-Ayerbe P.
AU - Dumur D.
PY - 2008
SP - 264
EP - 268
DO - 10.5220/0001496302640268