Robust H model predictive control for uncertain systems using relaxation matrices

S. M. Lee, Ju H. Park

Research output: Contribution to journalArticlepeer-review

16 Scopus citations

Abstract

In this paper, a robust H model predictive control (MPC) technique is proposed for time-varying uncertain discrete-time systems in the presence of input constraints and disturbances. We formulate a minimization problem of the upper bound of finite horizon cost function subject to the terminal inequality for an induced l2-norm bound. In order to improve system performance, we propose an LMI condition for the terminal inequality by using relaxation matrices. The LMI condition guarantees induced l2-norm bounds of the system despite system uncertainty and disturbance. A numerical example shows the effectiveness of the proposed method.

Original languageEnglish
Pages (from-to)641-650
Number of pages10
JournalInternational Journal of Control
Volume81
Issue number4
DOIs
StatePublished - Apr 2008

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