ROBUST PREDICTIVE CONTROL OF CONSTRAINED LINEAR TIME-VARYING SYSTEMS WITH POLYTOPIC UNCERTAINTY

摘要

A novel predictive controller for constrained Linear Time-Varying systems with polytopic uncertainty is presented. The algorithm minimizes an upper bound with respect to the first nc future control moves and a feedback gain that is assumed to beused after these moves. The optimization problem is shown to be a convex problem which can be formulated as an LMI problem. Constraints are handled by posing necessary and sufficient conditions on the first n{sub}c + 1 future moves and a sufficientcondition on the moves thereafter; these conditions are formulated in terms of additional LMI's. The algorithm is shown to be asymptotically stable. Two examples illustrate the efficiency of the method.