Journal
INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL
Volume 30, Issue 3, Pages 1258-1274Publisher
WILEY
DOI: 10.1002/rnc.4826
Keywords
linear model predictive control; output integral sliding mode; output tracking; sliding mode control
Funding
- Christian Doppler Research Association
- Austrian Federal Ministry for Digital and Economic Affairs
- National Foundation for Research, Technology and Development
- CONACYT (Consejo Nacional de Ciencia y Tecnologia) [282013]
- PAPIIT-UNAM (Programa de Apoyo a Proyectos de Investigacion e Innovacion Tecnologica) [IN 115419]
- H2020 Marie Sklodowska-Curie Actions [734832]
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A robustifying strategy for constrained linear multivariable systems is proposed. A combination of tracking model predictive control with output integral sliding mode techniques is used to completely reject bounded matched perturbations. It can be guaranteed that all constraints on inputs, states, and outputs are satisfied although only output information is used. Finally, real-world experiments with an unstable plant are presented in order to demonstrate the validity and the effectiveness of the proposed approach.
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