Convex-lifting-based robust control design using the tunable robust invariant sets

摘要

This paper addresses the problem of construction of the tunable robust positive invariant sets in the framework of convex-lifting-based robust control. Moreover, the paper introduces a switching control law minimizing the necessity to compute control input by solving a linear programming, that is computationally more expensive than a pre-computed linear control law. Simultaneously, the control performance is improved by introducing another robust positive invariant subset with more aggressive control law. The robust stability guarantee is proven. Two case studies investigate the benefits of the proposed strategy. (C) 2019 European Control Association. Published by Elsevier Ltd. All rights reserved.