Title :
Robustifying a predictive controller against persistent disturbances
Author :
Chisci, L. ; Zappa, G.
Author_Institution :
Dipt. di Sist. e Inf., Univ. di Firenze, Florence, Italy
fDate :
Aug. 31 1999-Sept. 3 1999
Abstract :
The joint presence of constraints and disturbances can drive a predictive controller to infeasibility and instability. Here it is shown how robustness against persistent bounded disturbances can be provided by adding to the nominal predictive controller a suitable invariance constraint. The proposed technique allows to significantly enlarge the feasibility region with respect to techniques based on constraint restrictions.
Keywords :
constraint theory; invariance; predictive control; robust control; constraint restrictions; invariance constraint; nominal predictive controller; persistent disturbances; Convergence; Discrete-time systems; Kernel; Optimization; Predictive control; Robustness; Trajectory; Predictive control; constrained systems; invariant sets; linear discrete-time systems;
Conference_Titel :
Control Conference (ECC), 1999 European
Conference_Location :
Karlsruhe
Print_ISBN :
978-3-9524173-5-5
