Gain-Scheduled MPC Design for Nonlinear Systems with Input Constraints
Paper in proceedings, 2015
A novel methodology is proposed for discrete model predictive gain-scheduled controller design for nonlinear systems with input(hard)/output(soft) constraints for finite and infinite prediction horizons. The proposed design procedure is based on the linear parameter-varying (LPV) paradigm, affine parameter-dependent quadratic stability and on the notion of the parameter-varying guaranteed cost. The obtained design procedure is in the form of BMI. Numerical examples show the benefit of the proposed approach.
Quadratic gain-scheduled cost function
Parameter-dependent Lyapunov function