Title :
Robust nonlinear reference filtering for constrained linear systems with uncertain impulse/step responses
Author :
Bemporad, Albert0 ; Mosca, Edoardo
Author_Institution :
Dept. of Syst. & Inf., Florence Univ., Italy
Abstract :
A method based on conceptual tools of predictive control is described for solving tracking problems wherein pointwise-in-time input and/or state inequality constraints and model uncertainties are present. It consists of adding to a primal compensated system a nonlinear device called predictive reference filter (PRF) which manipulates the desired trajectory in order to fulfill the prescribed constraints. Provided that an admissibility condition on the initial state is satisfied, the control scheme is proved to fulfill the constraints and be asymptotically stable for all the systems whose impulse-response and step-response descriptions lie within given uncertainty ranges
Keywords :
asymptotic stability; filtering theory; linear systems; nonlinear filters; predictive control; robust control; step response; transient response; uncertain systems; admissibility condition; constrained linear systems; inequality constraints; model uncertainties; predictive control; predictive reference filter; primal compensated system; robust nonlinear reference filtering; tracking problems; uncertain impulse/step responses; Control systems; Feedback control; Filtering; Linear systems; Nonlinear filters; Predictive models; Robustness; Strain control; Trajectory; Uncertainty;
Conference_Titel :
Decision and Control, 1996., Proceedings of the 35th IEEE Conference on
Conference_Location :
Kobe
Print_ISBN :
0-7803-3590-2
DOI :
10.1109/CDC.1996.573717
