New robust stable MPC using linear matrix inequalities

• Autor(a) principal: Rodrigues,M.A.
• Data de Publicação: 2000
• Outros Autores: Odloak,D.
• Tipo de documento: Artigo
• Idioma: eng
• Título da fonte: Brazilian Journal of Chemical Engineering
• Texto Completo: http://old.scielo.br/scielo.php?script=sci_arttext&pid=S0104-66322000000100005
• topic: model predictive control; output feedback; linear matrix inequalities; robust stability

This paper addresses the stability of Model Predictive Control (MPC) with output feedback. The proposed controller uses a new state-space formulation of the system, and the control problem is presented as an LMI optimization problem. The stability condition for the closed loop is included as a Lyapunov inequality. The resulting optimization problem becomes nonlinear with the inclusion of the stabilizing condition. A suboptimal solution is developed and the problem reduces to a pair of coupled LMI problems. An iterative solution that converges to a stable output feedback gain is proposed. A polytopic set of process models can be considered. A simulation example is included in the paper and shows that the proposed strategy eliminates the usual practice of enforcing robustness by detuning the MP controller.