Journal
IEEE TRANSACTIONS ON AUTOMATIC CONTROL
Volume 62, Issue 10, Pages 5343-5350Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TAC.2016.2636751
Keywords
Predictive control for linear systems; robust control; stability of linear systems; uncertain systems
Funding
- MCYT-Spain [DPI2013-48243-C2-2-R]
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In this paper, we propose a novel robust model predictive controller for tracking periodic signals for linear systems subject to bounded additive uncertainties based on nominal predictions and constraint tightening. The proposed controller joins optimal periodic trajectory planning and robust control for tracking in a single optimization problem and guarantees that the perturbed closed-loop system converges asymptotically to a neighborhood of an optimal reachable periodic trajectory while robustly satisfying the constraints. In addition, the closed-loop system maintains recursive feasibility even in the presence of sudden changes in the target reference.
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