Title :
Robust receding-horizon control for linear systems with model uncertainties
Author :
Lee, Kyeong Heon ; Kwon, Wook Hyun ; Lee, Joon Hwa
Author_Institution :
Sch. of Electr. Eng., Seoul Nat. Univ., South Korea
Abstract :
A method for designing a robust receding-horizon controller for linear systems with model uncertainties is proposed. An upper bound of the worst-case finite-horizon performance index is calculated and then a state-feedback gain, which minimizes the upper bound, is obtained. Using Lyapunov arguments, it is shown that the feasible control law asymptotically stabilizes the closed-loop system. This can be achieved by imposing a terminal inequality condition at the terminal time of the finite-horizon performance index. This design method for the robust receding-horizon controller is extended to tracking problems. Finally some numerical examples are suggested in order to show how these design methods work in real plants compared with the conventional receding-horizon controller
Keywords :
Lyapunov methods; asymptotic stability; closed loop systems; control system synthesis; linear systems; minimisation; performance index; robust control; state feedback; Lyapunov arguments; closed-loop system; design method; linear systems; model uncertainties; robust receding-horizon control; state-feedback gain; terminal inequality condition; upper bound; worst-case finite-horizon performance index; Control system synthesis; Design engineering; Design methodology; Linear systems; Performance analysis; Predictive control; Predictive models; Robust control; Stability; 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.1996.577350
