Gain-Scheduled MPC Design for Nonlinear Systems with Input Constraints
Paper in proceeding, 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.

Nonlinear systems

LPV systems

Predictive controller

Parameter-dependent Lyapunov function

Quadratic gain-scheduled cost function

Gain-scheduled controller


Adrian Ilka

Slovak University of Technology Bratislava

Vojtech Veselý

Slovak University of Technology Bratislava

IFAC Proceedings Volumes (IFAC-PapersOnline), 1st IFAC Conference on Modelling, Identification and Control of Nonlinear Systems, MICNON 2015; Saint Petersburg; Russian Federation; 24 June 2015 through 26 June 2015; Code 117503

1474-6670 (ISSN)

Vol. 48 11 912-917

Subject Categories

Control Engineering



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