Abstract
In this article we take advantage of the primary and dual Youla parameterisations to set up a soft constrained
model predictive control (MPC) scheme. In this framework it is possible to guarantee stability in face of
norm-bounded uncertainties. Under special conditions guarantees are also given for hard input constraints.
In more detail, we parameterise the MPC predictions in terms of the primary Youla parameter and use this
parameter as the on-line optimisation variable. The uncertainty is parameterised in terms of the dual Youla
parameter. Stability can then be guaranteed through small gain arguments on the loop consisting of the primary
and dual Youla parameter. This is included in the MPC optimisation as a constraint on the induced gain of the
optimisation variable. We illustrate the method with a numerical simulation example.
Original language | English |
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Journal | International Journal of Control |
Volume | 84 |
Issue number | 4 |
Pages (from-to) | 653-664 |
ISSN | 0020-7179 |
DOIs | |
Publication status | Published - 2011 |
Keywords
- Model Predictive Control
- Youla parameterization
- Robust control