Polytopic invariant sets for continuous-time systems

Author

Blanco, Toni Barjas ; De Moor, Bart

Author_Institution

Dept. of Electr. Eng., Katholieke Univ. Leuven, Leuven, Belgium

fYear

2007

fDate

2-5 July 2007

Firstpage

5087

Lastpage

5093

Abstract

In Model Predictive Control stability can be guaranteed by the use of an invariant terminal set. In this paper a numerical method is described concerning the computation of a low-complexity polytopic-invariant set for linear and nonlinear continuous time-systems subject to state, input and rate constraints. The method determines an (sub)optimal linear feedback gain w.r.t. the volume of the invariant polytope. A trade-off between optimality of the feedback gain and the volume of the invariant polytope is made by use of a tuning parameter.

Keywords

continuous time systems; feedback; linear systems; nonlinear systems; numerical analysis; set theory; input constraints; invariant terminal set; linear continuous time-systems; low-complexity polytopic-invariant set; model predictive control stability; nonlinear continuous time-systems; numerical method; rate constraints; state constraints; suboptimal linear feedback gain; tuning parameter; Eigenvalues and eigenfunctions; Gain; Nonlinear systems; Optimization; Trajectory; Tuning; Vectors; Constrained control; Linear systems; Nonlinear systems; Optimization; Polytopic invariant sets;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Conference (ECC), 2007 European

Conference_Location

Kos

Print_ISBN

978-3-9524173-8-6

Type

conf

Filename

7068941