Piecewise linear robust model predictive control

摘要: For discrete-time linear time-invariant systems with input disturbances and constraints on inputs states, we develop an algorithm to determine explicitly, as a function of the initial state, solution robust optimal control problems based min-max optimization. We show that sequence is piecewise state. Thus, when problem solved at each time step according moving horizon scheme, on-line computation resulting MPC controller reduced simple evaluation. In this paper uncertainty modeled additive norm-bounded disturbance vector. The technique can be also extended constrained affected by polyhedral parametric uncertainty.