Faculty of Electrical Engineering and Information Technology, Slovak University of Technology, Ilkovicova 3, 81219 Bratislava, Slovak Republic.
ISA Trans. 2010 Jan;49(1):114-20. doi: 10.1016/j.isatra.2009.10.003. Epub 2009 Oct 23.
The paper addresses the problem of designing a robust output/state model predictive control for linear polytopic systems with input constraints. The new predictive and control horizon model is derived as a linear polytopic system. Lyapunov function approach guarantees the quadratic stability and guaranteed cost for closed-loop system. The invariant set and an algorithm approach similar to Soft Variable-Structure Control (SVSC), ensures input constraints for the model predictive plant control system. In the proposed control scheme, the required on-line computation load is significantly less than in MPC literature, which opens the possibility to use these control design schemes not only for plants with slow dynamics, but also for faster ones.
本文针对具有输入约束的线性多胞系统，设计了一种鲁棒输出/状态模型预测控制。新的预测和控制时域模型被推导为一个线性多胞系统。Lyapunov 函数方法保证了闭环系统的二次稳定性和有界性能。不变集和类似于软变结构控制（SVSC）的算法方法，确保了模型预测植物控制系统的输入约束。在所提出的控制方案中，所需的在线计算负载明显小于模型预测控制文献中的计算负载，这为不仅在慢动态的工厂，而且在更快的工厂中使用这些控制设计方案提供了可能性。
