Title :
Discrete-time robust model predictive control for continuous-time nonlinear systems
Author :
Kogel, Markus ; Findeisen, Rolf
Author_Institution :
Inst. for Autom. Eng., Otto-von-Guericke-Univ. Magdeburg, Magdeburg, Germany
Abstract :
We consider robust predictive control of continuous-time, constrained, nonlinear systems by means of a discrete-time control scheme. The key idea is to discretize the system first and to explicitly bound the arising discretization error. Taking this error into account a robustly stabilizing predictive controller is proposed that guarantees constraint satisfaction at the sampling instances and via a simple modification also continuous constraint satisfaction. The results are illustrated by an example.
Keywords :
constraint satisfaction problems; continuous time systems; discrete time systems; nonlinear control systems; predictive control; robust control; continuous constraint satisfaction; continuous-time constrained nonlinear systems; discrete-time robust model predictive control; discretization error; discretized system; explicit bound; robustly stabilized predictive controller; Approximation methods; Electron tubes; Nonlinear dynamical systems; Predictive control; Robustness; Trajectory;
Conference_Titel :
American Control Conference (ACC), 2015
Conference_Location :
Chicago, IL
Print_ISBN :
978-1-4799-8685-9
DOI :
10.1109/ACC.2015.7170852
