MODEL PREDICTIVE CONTROL WITH INVARIANT SETS: SET-POINT TRACKING

PEKAR, J.; HAVLENA, V.

Abstract

The stability of a control loop with the model based predictive controller (MPC) is recently closely connected to concept of invariant sets. In many control applications, the system output should track a given reference signal. In this paper, the extension of the basic MPC algorithm to reference tracking is shown. The main result of the paper is that the minimal and maximal allowed bounds of the reference signal, for which the optimization problem of reference tracking remain feasible, are piecewise affine functions of the system state. For each length of prediction horizon, the proposed problem can be solved as a pair of multi-parametric linear programs.

Coresponding author e-mail: pekarj[at]control[dot]felk[dot]cvut[dot]cz

Session: Model Predictive Control