Discussion on: 'Variable Horizon Robust Predictive Control via Adjsutable Controllability Sets' by M.N. Demenkov and N.B.Filimonov

摘要

The paper by Demenkov and Filimonov addresses the important issue of robust predictive control. The main benefit of predictive control, not available in any other 'standard' control methodology, is the explicit con- sideration of constraints. A major problem which then arises is the danger that the plant being controlled is driven by the predictive controller into a region (of the state-space) from which there is no escape, in the sense that the predictive control problem ceases to have a feasible solution. Practical implementations mitigate this problem by 'softening' and/or prioritiz- ing the constraints, so that the controller is allowed to violate constraints in extremis, and/or less important constraints are ignored in order to restore feasibility.