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ROBUST RECEDING HORIZON CONTROL FOR NONLINEAR DISCRETE-TIME SYSTEMS
L. Magni, G. De Nicolao, R. Scattolini and
F. Allgöwer**
* Dipartimento di Informatica e Sistemistica, università di Pavia,
via ferrata 1, 27100 Pavia, Italy
e-mail: {lalo.magni,denicolao,ricardo.sc attolin}@unipv.it
WEB:http://conpro.unipv.it/lab/
** Institute for Systems Theory in Engineering, University of
Stuttgart, 70550 Stuttgart, Germany
E-mail: {allgower@ist.uni-stuttgart.de}
This paper describes an approach based on Receding Horizon control for the solution of the state-feedback H∞ control problem for discrete-time nonlinear systems. The control law is obtained through the solution of a finite-horizon dynamic game and guarantees robust stability in the face of a class of bounded disturbances and/or parameter uncertainties.
Keywords: Robust Control, Model Predictive Control, Receding Horizon control, Discrete-time systems
Session slot T-Tu-A03: Adaptive Nonlinear Control/Area code 3b : Adaptive Control and Tuning
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