A PARAMETRIC OPTIMISATION APPROACH FOR ROBUST MPC
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Copyright © 2002 IFAC. In this paper an algorithm is presented for deriving the explicit robust model based optimal control law. The system is represented by linear, discrete-time, timeinvariant model with constraints on control and state variables and a quadratic objective function. Using the fundamentals of flexibility analysis the algorithm proposed in this paper derives the robust optimal control law off-line as a function of the state of the process, thus eliminating the repetitive solution of on-line optimisation problems. Hence, the on-line implementation is reduced to a sequence of simple function evaluations. The key advantageous features of the algorithm are demonstrated via an illustrative example.
author list (cited authors)
Kakalis, N., Dua, V., Sakizlis, V., Perkins, J. D., & Pistikopoulos, E. N.