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Authors: Pedro Rodríguez-Ayerbe and Sorin Olaru

Affiliation: Supélec, France

Keyword(s): Piecewise affine controller, Robustification, Youla-Kucera parameter, Model Predictive Control.

Related Ontology Subjects/Areas/Topics: Adaptive Signal Processing and Control ; Informatics in Control, Automation and Robotics ; Signal Processing, Sensors, Systems Modeling and Control

Abstract: The paper deals with the predictive control for linear systems subject to constraints, technique which leads to nonlinear (piecewise affine) control laws. The main goal is to reduce the sensitivity of these schemes with respect to the model uncertainties and avoid in the same time a fastidious on-line optimisation which may reduce the range of application. In this idea a two stage predictive strategy is proposed, which synthesizes in a first instant an analytical (continuous and piecewise linear) control law based on the nominal model and secondly robustify the central controller (the controller obtained when no constraint is active). This robustification is then expanded to all the space of the piecewise structure by means of its corresponding noise model.

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Paper citation in several formats:
Rodríguez-Ayerbe, P. and Olaru, S. (2008). OFF-LINE ROBUSTIFICATION OF EXPLICIT MPC LAWS - The Case of Polynomial Model Representation. In Proceedings of the Fifth International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO; ISBN 978-989-8111-32-6; ISSN 2184-2809, SciTePress, pages 96-101. DOI: 10.5220/0001481300960101

@conference{icinco08,
author={Pedro Rodríguez{-}Ayerbe. and Sorin Olaru.},
title={OFF-LINE ROBUSTIFICATION OF EXPLICIT MPC LAWS - The Case of Polynomial Model Representation},
booktitle={Proceedings of the Fifth International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO},
year={2008},
pages={96-101},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001481300960101},
isbn={978-989-8111-32-6},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the Fifth International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO
TI - OFF-LINE ROBUSTIFICATION OF EXPLICIT MPC LAWS - The Case of Polynomial Model Representation
SN - 978-989-8111-32-6
IS - 2184-2809
AU - Rodríguez-Ayerbe, P.
AU - Olaru, S.
PY - 2008
SP - 96
EP - 101
DO - 10.5220/0001481300960101
PB - SciTePress

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