Robust explicit/multi-parametric controllers are designed for constrained, linear discrete-time systems with box-constrained states and inputs, involving uncertainty in the left-hand side (LHS) of the Model Predictive Control (MPC) optimization model. Based on previous results, this work presents a new algorithm that features: (i) a dynamic programming reformulation of the MPC optimization, (ii) a robust reformulation of the constraints that accounts for uncertainty and (iii) a multi-parametric programming solution step where the controls are obtained as an explicit function of the states. © 2009 IFAC.
|Original language||English (US)|
|Title of host publication||9th International Symposium on Dynamics and Control of Process Systems, DYCOPS 2010|
|Number of pages||6|
|State||Published - Dec 1 2010|