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Enlarging the domain of attraction of stable MPC controllers, maintaining the output performance

Authors
Journal
Automatica
0005-1098
Publisher
Elsevier
Publication Date
Volume
45
Issue
4
Identifiers
DOI: 10.1016/j.automatica.2008.11.015
Keywords
  • Model Predictive Control
  • Stability Of Mpc
  • Domain Of Attraction

Abstract

Abstract This work presents an alternative way to formulate the stable Model Predictive Control (MPC) optimization problem that allows the enlargement of the domain of attraction, while preserving the controller performance. Based on the dual MPC that uses the null local controller, it proposed the inclusion of an appropriate set of slacked terminal constraints into the control problem. As a result, the domain of attraction is unlimited for the stable modes of the system, and the largest possible for the non-stable modes. Although this controller does not achieve local optimality, simulations show that the input and output performances may be comparable to the ones obtained with the dual MPC that uses the LQR as a local controller.

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