General interpolation in MPC and its advantages

Marko Bacic; Mark Cannon; Young Il Lee; Basil Kouvaritakis

doi:10.1109/TAC.2003.812817

General interpolation in MPC and its advantages

Marko Bacic, Mark Cannon, Young Il Lee, Basil Kouvaritakis

Dept. of Electrical and Information Engineering

University of Oxford

Research output: Contribution to journal › Article › peer-review

64 Scopus citations

Abstract

Linear terminal control laws In model predictive control imply the need to compromise between performance and size of terminal region. A remedy allows the control law to vary with time, but requires very large online computation. Here, use is made of nonlinear terminal laws comprising an interpolation between predefined laws, each with its own precomputed terminal set. This reduces the online computation significantly, yet results in large terminal sets defined by the convex hull of invariant ellipsoids. The use of a different prediction class also produces significant benefits with respect to performance.

Original language	English
Pages (from-to)	1092-1096
Number of pages	5
Journal	IEEE Transactions on Automatic Control
Volume	48
Issue number	6
DOIs	https://doi.org/10.1109/TAC.2003.812817
State	Published - Jun 2003

Keywords

Constrained
Interpolation
Linear matrix inequality (LMI)
Predictive control

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General interpolation in MPC and its advantages

Abstract

Keywords

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