Journal
IEEE TRANSACTIONS ON AUTOMATIC CONTROL
Volume 48, Issue 6, Pages 1092-1096Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TAC.2003.812817
Keywords
constrained; interpolation; linear matrix inequality (LMI); predictive control
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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.
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