A synthesis approach of constrained robust regulation based-on partial closed-loop optimization

A new approach to the constrained robust regulation for systems with a polytopic description is proposed. This is motivated by two previous techniques. One parameterizes the infinite horizon control moves into a look-up table of state-feedback-law-sequence. The other splits the infinite horizon control moves into a set of free control moves over a fixed horizon and a state feedback law in the terminal region. The basic idea in the paper is to utilize the look-up table in deciding the free control moves. Thus, open-loop optimization is substituted by partial closed-loop optimization. A simulation example shows the closed-loop stability of the new technique.