An algorithm for robust explicit/multi-parametric model predictive control

A new algorithm for robust explicit/multi-parametric Model Predictive Control (MPC) for uncertain, linear discrete-time systems is proposed. Based on previous work on Dynamic Programming (DP), multi-parametric Programming and Robust Optimization, the proposed algorithm features, (i) a DP reformulati...

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Published in:	Automatica (Oxford) Vol. 49; no. 2; pp. 381 - 389
Main Authors:	Kouramas, K.I., Panos, C., Faísca, N.P., Pistikopoulos, E.N.
Format:	Journal Article
Language:	English
Published:	Kidlington Elsevier Ltd 01.02.2013 Elsevier
Subjects:	Adaptative systems Algorithms Applied sciences Computer science; control theory; systems Control theory. Systems Dynamical systems Exact sciences and technology Explicit/multi-parametric MPC Mathematical models Model predictive control Modelling and identification Multi-parametric programming Optimal control Optimization Predictive control Programming Robust control State variable Uncertainty Robust control Explicit/multi-parametric MPC Model predictive control Multi-parametric programming Multimodel control Parametric programming Convex programming Optimization Uncertain system Discrete time System identification Dynamic programming State constraint
ISSN:	0005-1098, 1873-2836
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Abstract	A new algorithm for robust explicit/multi-parametric Model Predictive Control (MPC) for uncertain, linear discrete-time systems is proposed. Based on previous work on Dynamic Programming (DP), multi-parametric Programming and Robust Optimization, the proposed algorithm features, (i) a DP reformulations of the MPC optimization problem, (ii) a robust reformulation of the constraints, and (iii) a multi-parametric programming step, where the control variables are obtained as explicit functions of the state variable, such that the state and input constraints are satisfied for all admissible values of the uncertainty. A key feature of the proposed procedure is that, as opposed to previous methods, it only solves a convex multi-parametric programming problem for each stage of the DP procedure.
AbstractList	A new algorithm for robust explicit/multi-parametric Model Predictive Control (MPC) for uncertain, linear discrete-time systems is proposed. Based on previous work on Dynamic Programming (DP), multi-parametric Programming and Robust Optimization, the proposed algorithm features, (i) a DP reformulations of the MPC optimization problem, (ii) a robust reformulation of the constraints, and (iii) a multi-parametric programming step, where the control variables are obtained as explicit functions of the state variable, such that the state and input constraints are satisfied for all admissible values of the uncertainty. A key feature of the proposed procedure is that, as opposed to previous methods, it only solves a convex multi-parametric programming problem for each stage of the DP procedure. A new algorithm for robust explicit/multi-parametric Model Predictive Control (MPC) for uncertain, linear discrete-time systems is proposed. Based on previous work on Dynamic Programming (DP), multi-parametric Programming and Robust Optimization, the proposed algorithm features, (i) a DP reformulations of the MPC optimization problem, (ii) a robust reformulation of the constraints, and (iii)ANBa multi-parametric programming step, where the control variables are obtained as explicit functions of the state variable, such that the state and input constraints are satisfied for all admissible values of the uncertainty. A key feature of the proposed procedure is that, as opposed to previous methods, it only solves a convex multi-parametric programming problem for each stage of the DP procedure.
Author	Kouramas, K.I. Faísca, N.P. Panos, C. Pistikopoulos, E.N.
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Snippet	A new algorithm for robust explicit/multi-parametric Model Predictive Control (MPC) for uncertain, linear discrete-time systems is proposed. Based on previous...
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SubjectTerms	Adaptative systems Algorithms Applied sciences Computer science; control theory; systems Control theory. Systems Dynamical systems Exact sciences and technology Explicit/multi-parametric MPC Mathematical models Model predictive control Modelling and identification Multi-parametric programming Optimal control Optimization Predictive control Programming Robust control State variable Uncertainty
Title	An algorithm for robust explicit/multi-parametric model predictive control
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