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
Author
Adrian Ilka
Slovak University of Technology Bratislava
Vojtech Veselý
Slovak University of Technology Bratislava
Published in
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 Issue 11 p. 912-917Categorizing
Subject Categories (SSIF 2011)
Control Engineering
Identifiers
DOI
10.1016/j.ifacol.2015.09.307