Comments on: 'Efficient robust constrained model predictive control with a time varying terminal constraint set' by Wan and Kothare

摘要

We present an algorithm that modifies the original formulation proposed in Wan and Kothare [Efficient robust constrained model predictive control with a time-varying terminal constraint set, Systems Control Lett. 48 (2003) 375-383]. The modified algorithm can be proved to be robustly stabilizing and preserves all the advantages of the original algorithm, thereby overcoming the limitation pointed out recently by Pluymers et al. [Min-max feedback MPC using a time-varying terminal constraint set and comments on "Efficient robust constrained model predictive control with a time-varying terminal constraint set", Systems Control Lett. 54 (2005) 1143-1148]. (c) 2006 Elsevier B.V. All rights reserved.