Control under output inequality constraints for non minimum phase system

摘要

The receding horizon optimal control techniques (predictive control) allow to cope easily with inequality constraints on inputs and outputs. However constraints on the outputs may generae instabilities when the system has unstable zeros. A "positive response" (PR) property is defined for the system. It is possible to design stable receding horizon control laws of systems haivng this property. A control strategy is also proposed for non-Pr systems.